diff --git a/CHANGELOG.txt b/CHANGELOG.txt
index d0d48141..d7ba324b 100644
--- a/CHANGELOG.txt
+++ b/CHANGELOG.txt
@@ -17,7 +17,7 @@ TODO for 0.5.0
   - "Split package, multiple jars provide the same package"
   - [WARNING] bootstrap class path not set in conjunction with -source 8
     when using: mvn clean install -P on-jdk-9-plus
-- CI: Fail build on warnbing?!
+- CI: Fail build on warning?!
 - CI: remove "temurin"...?!
 
 
@@ -42,6 +42,10 @@ ODE16.2: Much better. Floating card is actually fine (in theory). But3rd row col
 
 0.5.0 (unreleased)
 =====
+- Port updates until 0.16.2.
+  This includes some libCCD updates missing fro the 0.15.1 update.
+  This excludes improved solution finders with anything from *Cooperative* and ThreadedEquationSolverLDLT*.
+  [#97](https://github.com/tzaeschke/ode4j/pull/97)
 - Added GutHub Actions CI builds for Java 8 and 9. [#95](https://github.com/tzaeschke/ode4j/pull/95)
 - Added default logger for demos and tests. [#94](https://github.com/tzaeschke/ode4j/pull/94)
 - Added Android API compliance checker, now for API level 24 (the lowest that ode4j passed without changes)
@@ -55,7 +59,7 @@ ODE16.2: Much better. Floating card is actually fine (in theory). But3rd row col
   (Cleanup, part of this was done with the move to 0.15.1)
 - Update to ODE 0.15.1 [#86](https://github.com/tzaeschke/ode4j/pull/86)
   - This includes increased stability, e.g. the DemoCards won't collapse anymore when 30 levels high.
-  - **** WARNING **** : Still missing: libccd and trimesh collider updates.
+  - **** WARNING **** : Still missing: trimesh collider updates.
 - Changed CI build requirements:
   - Removed openjdk7: Not required. source compatibility is still set to 7, but should
     be safe to change to 8 now (Android Nougat is mostly 8 compatible), this covers > 80% users.
diff --git a/README.md b/README.md
index 6299cd47..2f7307c0 100644
--- a/README.md
+++ b/README.md
@@ -68,16 +68,20 @@ News
  * This is the last release built with Java 6.
 
 
+Basic Usage Tips
+================
+ * Use `World.quickStep(...)` instead of `World.step()`. The latter is slower and appears to be less stable.
+ * Make sure to set `Common.dNODEBUG = true` for best performance.
+ * Avoid using `core-cpp` and ignore demos in `demo-cpp`. 
+
+
 Legal
 =====
 
 ode4j:
-Copyright (c) 2009-2017 Tilmann Zäschke <ode4j(AT)gmx.de>.
+Copyright (c) 2009-2023 Tilmann Zäschke <ode4j(AT)gmx.de>.
 All rights reserved.
 
-
-
-
 Like the original ODE, ode4j is licensed under LGPL v2.1 and BSD 3-clause. Choose whichever license suits your needs. 
 
 
diff --git a/TODO.txt b/TODO.txt
index 44545f6d..ac103e67 100644
--- a/TODO.txt
+++ b/TODO.txt
@@ -5,13 +5,24 @@ mvn versions:display-dependency-updates
 mvn versions:display-plugin-updates
 
 
+Things left out for 0.5.0 (missing from 0.15.1 vs 0.16.2)
+=========================================================
+ Not ported:
+  - resource_control.*
+  - simple_cooperation.*
+  - Updates to DxWorldProcessContext
+  - ThreadedEquationSolverLDLT* and *Cooperative* is missing from:
+    - fastldltfactor(_impl).*
+    - fastlsolve(_impl).*
+    - fastltsolve(_impl).*:
+    - fastvecscale(_impl).*:
+  - objects.h/.cpp  /  obstack.h/.cpp
+
 
 Java Version
 ============
 - We should aim for Oreo or later (Android 8.0, released 2017, API Level 26: https://apilevels.com/)
-- Java 8 should be fine.
-- Try animal-sniffer plugin for higher versions, e.g. Java 9
-  More accurate (respects desugaring by D8): https://github.com/open-toast/gummy-bears
+- We use animal-sniffer (respects desugaring by D8): https://github.com/open-toast/gummy-bears
 
 - Android Runtime replaced Dalvik as default Runtime in Android 5: https://en.wikipedia.org/wiki/Android_version_history
 - Android 8 (Oreo) is about 8% share:
@@ -24,9 +35,6 @@ Java Version
   - Android 11 support "up to" Java 13 (Question: complete 13 or partial 13??)
 - 2018: https://jakewharton.com/androids-java-9-10-11-and-12-support/
 
-- Java 8 support: https://developer.android.com/studio/write/java8-support-table
-- Java 8 support details: https://developer.android.com/studio/write/java8-support
-
 
 MArch 2023:
 General cleanup:
@@ -35,8 +43,12 @@ General cleanup:
 - Move tests to core/test
 - update DVector3 safeNormalize to use max() and then compare to 0. ALso see: https://github.com/JOML-CI/JOML/issues/66
 - replace DVector3.clone() with dVector3.re() or copy()
+- Create separate distribution (maven jar) with modules? -> Check how modul-projects have trouble with including
+  non-module projects...
+  -> https://www.baeldung.com/java-9-modularity
+  -> https://stackoverflow.com/questions/40490520/what-do-i-need-to-build-jdk-9-project-with-non-modular-dependencies-using-maven
 - reformat everything? At least indentation?
-- CI builds
+- Consider porting stuff in "contrib"
 
 
 July 6th 2009:
@@ -49,7 +61,7 @@ Some minor things I found in the code:
 - http://opende.sourceforge.net/wiki/index.php/Joint_Param_Documentation
   This indicate that PU & PR joint have not parameters, I don't think that's correct?
 - GeomTransform is obsolete since 0.6 (according to the Wiki), but it is still used in several demos:
-  deom_boxstack, demo_heightfield, demo_jointPU, demo_motion, demo_spacestress.
+  demo_boxstack, demo_heightfield, demo_jointPU, demo_motion, demo_spacestress.
   I haven't used it myself, so is it still required?
 
 
diff --git a/core-cpp/src/main/java/org/ode4j/cpp/internal/ApiCppMathMatrix.java b/core-cpp/src/main/java/org/ode4j/cpp/internal/ApiCppMathMatrix.java
index 819e875f..1e8d94d4 100644
--- a/core-cpp/src/main/java/org/ode4j/cpp/internal/ApiCppMathMatrix.java
+++ b/core-cpp/src/main/java/org/ode4j/cpp/internal/ApiCppMathMatrix.java
@@ -218,11 +218,21 @@ void dSolveL1T (final DMatrix3C L, DVector3 b, int n, int nskip) {
 		throw new UnsupportedOperationException();
 	}
 
+	/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+	 */
 
-	/** in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
+	// ODE_API void dScaleVector (dReal *a, const dReal *d, int n);
+	void dScaleVector (DVector3 a, final DVector3C d, int n) {
+		throw new UnsupportedOperationException();
+	}
 
-	//ODE_API 
-	//	 void dVectorScale (double *a, final double *d, int n) {
+	/* The function is an alias for @c dScaleVector.
+	 * It has been deprecated because of a wrong naming schema used.
+	 */
+	//ODE_API_DEPRECATED
+	// ODE_API
+	//   void dVectorScale (dReal *a, const dReal *d, int n)
+	@Deprecated
 	void dVectorScale (DVector3C a, final DVector3 d, int n) {
 		throw new UnsupportedOperationException();
 	}
diff --git a/core/src/main/java/org/ode4j/ode/DMatrix.java b/core/src/main/java/org/ode4j/ode/DMatrix.java
index 64eb90f8..bdc750f0 100644
--- a/core/src/main/java/org/ode4j/ode/DMatrix.java
+++ b/core/src/main/java/org/ode4j/ode/DMatrix.java
@@ -318,11 +318,26 @@ public static void dFactorLDLT (double[] A, double[] d, int n, int nskip) {
 //    public void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
 
 
+    /* in matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+     */
+
+    /**
+     * In matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+     * @param a a
+     * @param d d
+     */
+    // ODE_API
+    public static void dScaleVector (DVector3 a, DVector3C d) {
+        a.scale(d);
+    }
+
     /**
-     * In matlab syntax: a(1:n) = a(1:n) .* d(1:n) 
+     * The function is an alias for @c dScaleVector.
+     *  It has been deprecated because of a wrong naming schema used.
      * @param a a
      * @param d d
      */
+    @Deprecated // deprecated in ODE
     public static void dVectorScale (DVector3 a, DVector3C d) {
         a.scale(d);
     }
diff --git a/core/src/main/java/org/ode4j/ode/DWorld.java b/core/src/main/java/org/ode4j/ode/DWorld.java
index 24d5e0f3..510c223c 100644
--- a/core/src/main/java/org/ode4j/ode/DWorld.java
+++ b/core/src/main/java/org/ode4j/ode/DWorld.java
@@ -185,7 +185,9 @@ public interface DWorld {
 	 */
 	double getCFM() ;
 
-	public static int dWORLDSTEP_THREADCOUNT_UNLIMITED = 0;
+	// TZ: This should be in threading.h
+	static int dTHREADING_THREAD_COUNT_UNLIMITED = 0;
+	public static int dWORLDSTEP_THREADCOUNT_UNLIMITED = dTHREADING_THREAD_COUNT_UNLIMITED;
 
 	/**
 	 * Set maximum threads to be used for island stepping
diff --git a/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshBoxOld.java b/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshBoxOld.java
deleted file mode 100644
index db25acc1..00000000
--- a/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshBoxOld.java
+++ /dev/null
@@ -1,1646 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
- * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
- * details.                                                              *
- *                                                                       *
- *************************************************************************/
-package org.ode4j.ode.internal;
-
-import org.ode4j.math.DMatrix3;
-import org.ode4j.math.DMatrix3C;
-import org.ode4j.math.DVector3;
-import org.ode4j.math.DVector3C;
-import org.ode4j.math.DVector4;
-import org.ode4j.math.DVector4C;
-import org.ode4j.ode.DAABBC;
-import org.ode4j.ode.DColliderFn;
-import org.ode4j.ode.DContactGeom;
-import org.ode4j.ode.DContactGeomBuffer;
-import org.ode4j.ode.DGeom;
-import org.ode4j.ode.internal.cpp4j.java.RefBoolean;
-import org.ode4j.ode.internal.cpp4j.java.RefDouble;
-import org.ode4j.ode.internal.cpp4j.java.RefInt;
-import org.ode4j.ode.internal.gimpact.GimDynArrayInt;
-import org.ode4j.ode.internal.gimpact.GimTrimesh;
-import org.ode4j.ode.internal.gimpact.GimGeometry.aabb3f;
-import org.ode4j.ode.internal.gimpact.GimGeometry.vec3f;
-import org.ode4j.ode.internal.trimesh.DxTriMesh;
-
-import static org.ode4j.ode.OdeConstants.*;
-import static org.ode4j.ode.internal.Common.*;
-
-/*************************************************************************
- *                                                                       *
- * Triangle-box collider by Alen Ladavac and Vedran Klanac.              *
- * Ported to ODE by Oskari Nyman.                                        *  
- * Ported to Java by Tilmann Zaeschke.                                   *
- *                                                                       *
- *************************************************************************/
-public class CollideTrimeshBoxOld implements DColliderFn {
-
-	@Override
-	public int dColliderFn(DGeom o1, DGeom o2, int flags,
-			DContactGeomBuffer contacts) {
-		return dCollideBTL((DxTriMesh)o1, (DxBox)o2, flags, contacts, 1);
-	}
-
-	//	#if dTRIMESH_ENABLED
-
-
-	//	static void
-	//	GenerateContact(int in_Flags, dContactGeom* in_Contacts, int in_Stride,
-	//	                dxGeom* in_g1,  dxGeom* in_g2, int TriIndex,
-	//	                const dVector3 in_ContactPos, const dVector3 in_Normal, dReal in_Depth,
-	//	                int& OutTriCount);
-
-
-	// largest number, double or float
-	//	#if defined(dSINGLE)
-	//	  #define MAXVALUE FLT_MAX
-	//	#else
-	//	  #define MAXVALUE DBL_MAX
-	//	#endif
-	private static final double MAXVALUE = Double.MAX_VALUE;
-
-
-	// dVector3
-	// r=a-b
-	//	#define SUBTRACT(a,b,r) do{ \
-	//	  (r)[0]=(a)[0] - (b)[0]; \
-	//	  (r)[1]=(a)[1] - (b)[1]; \
-	//	  (r)[2]=(a)[2] - (b)[2]; }while(0)
-	private void SUBTRACT(DVector3C a, DVector3C b, DVector3 r) {
-		r.eqDiff(a, b);
-	}
-
-
-	// dVector3
-	// a=b
-	//	#define SET(a,b) do{ \
-	//	  (a)[0]=(b)[0]; \
-	//	  (a)[1]=(b)[1]; \
-	//	  (a)[2]=(b)[2]; }while(0)
-	private void SET(DVector3 a, DVector3C b) {
-		a.set(b);
-	}
-
-
-	// dMatrix3
-	// a=b
-	//	#define SETM(a,b) do{ \
-	//	  (a)[0]=(b)[0]; \
-	//	  (a)[1]=(b)[1]; \
-	//	  (a)[2]=(b)[2]; \
-	//	  (a)[3]=(b)[3]; \
-	//	  (a)[4]=(b)[4]; \
-	//	  (a)[5]=(b)[5]; \
-	//	  (a)[6]=(b)[6]; \
-	//	  (a)[7]=(b)[7]; \
-	//	  (a)[8]=(b)[8]; \
-	//	  (a)[9]=(b)[9]; \
-	//	  (a)[10]=(b)[10]; \
-	//	                     (a)[11]=(b)[11]; }while(0)
-	//	/** a.set(b); */
-	//	private void SETM(DMatrix3 a, DMatrix3C b) {
-	//		a.set(b);
-	//	}
-
-
-	// dVector3
-	// r=a+b
-	//	#define ADD(a,b,r) do{ \
-	//	  (r)[0]=(a)[0] + (b)[0]; \
-	//	  (r)[1]=(a)[1] + (b)[1]; \
-	//	  (r)[2]=(a)[2] + (b)[2]; }while(0)
-	private void ADD(DVector3C a, DVector3C b, DVector3 r) {
-		r.eqSum(a, b);
-	}
-
-
-	// dMatrix3, int, dVector3
-	// v=column a from m
-	//	#define GETCOL(m,a,v) do{ \
-	//	  (v)[0]=(m)[(a)+0]; \
-	//	  (v)[1]=(m)[(a)+4]; \
-	//	  (v)[2]=(m)[(a)+8]; }while(0)
-	private void GETCOL(DMatrix3C m, int a, DVector3 v) {
-		if (a==0) { v.set(m.get00(), m.get10(), m.get20()); }
-		else if (a==1) { v.set(m.get01(), m.get11(), m.get21()); }
-		else if (a==2) { v.set(m.get02(), m.get12(), m.get22()); }
-		else throw new IllegalArgumentException("col=" + a);
-	}
-
-
-	// dVector4, dVector3
-	// distance between plane p and point v
-	//	#define POINTDISTANCE(p,v) \
-	//	  ( p[0]*v[0] + p[1]*v[1] + p[2]*v[2] + p[3] )
-	private double POINTDISTANCE(DVector4C p, DVector3C v) {
-		return p.get0()*v.get0() + p.get1()*v.get1() + p.get2()*v.get2() + p.get3();
-	}
-
-
-	// dVector4, dVector3, dReal
-	// construct plane from normal and d
-	//	#define CONSTRUCTPLANE(plane,normal,d) do{ \
-	//	  plane[0]=normal[0];\
-	//	  plane[1]=normal[1];\
-	//	  plane[2]=normal[2];\
-	//	  plane[3]=d; }while(0)
-	private void CONSTRUCTPLANE(DVector4 plane, DVector3C n, double d) {
-		plane.set( n.get0(), n.get1(), n.get2(), d);
-	}
-
-
-	// dVector3
-	// length of vector a
-	//	#define LENGTHOF(a) \
-	//	  dSqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2])
-	private double LENGTHOF(DVector3C a) {
-		return a.length();
-	}
-
-
-	private class sTrimeshBoxColliderData
-	{
-		//sTrimeshBoxColliderData(): m_iBestAxis(0), m_iExitAxis(0), m_ctContacts(0) {}
-		sTrimeshBoxColliderData() { m_iBestAxis=(0); m_iExitAxis=(0); m_ctContacts=new RefInt(0); }
-
-		//		void SetupInitialContext(dxTriMesh *TriMesh, dxGeom *BoxGeom,
-		//			int Flags, dContactGeom* Contacts, int Stride);
-		//		int TestCollisionForSingleTriangle(int ctContacts0, int Triint, 
-		//			dVector3 dv[3], bool &bOutFinishSearching);
-		//
-		//		bool _cldTestNormal(dReal fp0, dReal fR, dVector3 vNormal, int iAxis);
-		//		bool _cldTestFace(dReal fp0, dReal fp1, dReal fp2, dReal fR, dReal fD,
-		//			dVector3 vNormal, int iAxis);
-		//		bool _cldTestEdge(dReal fp0, dReal fp1, dReal fR, dReal fD,
-		//			dVector3 vNormal, int iAxis);
-		//		bool _cldTestSeparatingAxes(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2);
-		//		void _cldClipping(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2, int TriIndex);
-		//		void _cldTestOneTriangle(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2, int TriIndex);
-
-		// box data
-		final DMatrix3 m_mHullBoxRot = new DMatrix3();
-		final DVector3 m_vHullBoxPos = new DVector3();
-		final DVector3 m_vBoxHalfSize = new DVector3();
-
-		// mesh data
-		final DVector3   m_vHullDstPos = new DVector3();
-
-		// global collider data
-		final DVector3 m_vBestNormal = new DVector3();
-		//dReal    m_fBestDepth;
-		double    m_fBestDepth;
-		int    m_iBestAxis;
-		@SuppressWarnings("unused")
-		int    m_iExitAxis;
-		final DVector3 m_vE0 = new DVector3(), m_vE1 = new DVector3(), m_vE2 = new DVector3(), m_vN = new DVector3();
-
-		// global info for contact creation
-		int m_iFlags;
-		//		dContactGeom *m_ContactGeoms;
-		DContactGeomBuffer m_ContactGeoms;
-		int m_iStride;
-		//		dxGeom *m_Geom1;
-		//		dxGeom *m_Geom2;
-		DxGeom m_Geom1;
-		DxGeom m_Geom2;
-		RefInt m_ctContacts;
-		//	};
-
-		// Test normal of mesh face as separating axis for intersection
-		//boolean sTrimeshBoxColliderData::_cldTestNormal(dReal fp0, dReal fR, dVector3 vNormal, int iAxis)
-		boolean _cldTestNormal(double fp0, double fR, DVector3C vNormal, int iAxis)
-		{
-			// calculate overlapping interval of box and triangle
-			double fDepth = fR+fp0;
-
-			// if we do not overlap
-			if ( fDepth<0 ) {
-				// do nothing
-				return false;
-			}
-
-			// calculate normal's length
-			double fLength = LENGTHOF(vNormal);
-			// if long enough
-			if ( fLength > 0.0f ) {
-
-				double fOneOverLength = 1.0f/fLength;
-				// normalize depth
-				fDepth = fDepth*fOneOverLength;
-
-				// get minimum depth
-				if (fDepth < m_fBestDepth) {
-					//	      m_vBestNormal[0] = -vNormal[0]*fOneOverLength;
-					//	      m_vBestNormal[1] = -vNormal[1]*fOneOverLength;
-					//	      m_vBestNormal[2] = -vNormal[2]*fOneOverLength;
-					m_vBestNormal.set(vNormal).scale(-fOneOverLength);
-					m_iBestAxis = iAxis;
-					//dAASSERT(fDepth>=0);
-					m_fBestDepth = fDepth;
-				}
-			}
-
-			return true;
-		}
-
-
-
-
-		// Test box axis as separating axis
-		//	bool sTrimeshBoxColliderData::_cldTestFace(dReal fp0, dReal fp1, dReal fp2, dReal fR, dReal fD,
-		//            dVector3 vNormal, int iAxis)
-		boolean _cldTestFace(double fp0, double fp1, double fp2, double fR, double fD,
-				DVector3 vNormal, int iAxis)
-		{
-			double fMin, fMax;
-
-			// find min of triangle interval
-			if ( fp0 < fp1 ) {
-				if ( fp0 < fp2 ) {
-					fMin = fp0;
-				} else {
-					fMin = fp2;
-				}
-			} else {
-				if( fp1 < fp2 ) {
-					fMin = fp1;
-				} else {
-					fMin = fp2;
-				}
-			}
-
-			// find max of triangle interval
-			if ( fp0 > fp1 ) {
-				if ( fp0 > fp2 ) {
-					fMax = fp0;
-				} else {
-					fMax = fp2;
-				}
-			} else {
-				if( fp1 > fp2 ) {
-					fMax = fp1;
-				} else {
-					fMax = fp2;
-				}
-			}
-
-			// calculate minimum and maximum depth
-			double fDepthMin = fR - fMin;
-			double fDepthMax = fMax + fR;
-
-			// if we dont't have overlapping interval
-			if ( fDepthMin < 0 || fDepthMax < 0 ) {
-				// do nothing
-				return false;
-			}
-
-			double fDepth = 0;
-
-			// if greater depth is on negative side
-			if ( fDepthMin > fDepthMax ) {
-				// use smaller depth (one from positive side)
-				fDepth = fDepthMax;
-				// flip normal direction
-				//	    vNormal[0] = -vNormal[0];
-				//	    vNormal[1] = -vNormal[1];
-				//	    vNormal[2] = -vNormal[2];
-				vNormal.scale(-1);
-				fD = -fD;
-				// if greater depth is on positive side
-			} else {
-				// use smaller depth (one from negative side)
-				fDepth = fDepthMin;
-			}
-
-			// if lower depth than best found so far
-			if (fDepth < m_fBestDepth) {
-				// remember current axis as best axis
-				//	    m_vBestNormal[0]  = vNormal[0];
-				//	    m_vBestNormal[1]  = vNormal[1];
-				//	    m_vBestNormal[2]  = vNormal[2];
-				m_vBestNormal.set(vNormal);
-				m_iBestAxis    = iAxis;
-				//dAASSERT(fDepth>=0);
-				m_fBestDepth   = fDepth;
-			}
-
-			return true;
-		}
-
-		// Test cross products of box axis and triangle edges as separating axis
-		//	bool sTrimeshBoxColliderData::_cldTestEdge(dReal fp0, dReal fp1, dReal fR, dReal fD,
-		//	                          dVector3 vNormal, int iAxis)
-		boolean _cldTestEdge(double fp0, double fp1, double fR, double fD,
-				DVector3 vNormal, int iAxis)
-		{
-			double fMin, fMax;
-
-			// ===== Begin Patch by Francisco Leon, 2006/10/28 =====
-
-			// Fixed Null Normal. This prevents boxes passing
-			// through trimeshes at certain contact angles
-
-			//	  fMin = vNormal[0] * vNormal[0] +
-			//			 vNormal[1] * vNormal[1] +
-			//			 vNormal[2] * vNormal[2];
-			fMin = vNormal.lengthSquared();
-
-			if ( fMin <= dEpsilon ) /// THIS NORMAL WOULD BE DANGEROUS
-				return true;
-
-			// ===== Ending Patch by Francisco Leon =====
-
-
-			// calculate min and max interval values
-			if ( fp0 < fp1 ) {
-				fMin = fp0;
-				fMax = fp1;
-			} else {
-				fMin = fp1;
-				fMax = fp0;
-			}
-
-			// check if we overlapp
-			double fDepthMin = fR - fMin;
-			double fDepthMax = fMax + fR;
-
-			// if we don't overlapp
-			if ( fDepthMin < 0 || fDepthMax < 0 ) {
-				// do nothing
-				return false;
-			}
-
-			double fDepth;
-
-			// if greater depth is on negative side
-			if ( fDepthMin > fDepthMax ) {
-				// use smaller depth (one from positive side)
-				fDepth = fDepthMax;
-				// flip normal direction
-				//	    vNormal[0] = -vNormal[0];
-				//	    vNormal[1] = -vNormal[1];
-				//	    vNormal[2] = -vNormal[2];
-				vNormal.scale(-1);
-				fD = -fD;
-				// if greater depth is on positive side
-			} else {
-				// use smaller depth (one from negative side)
-				fDepth = fDepthMin;
-			}
-
-			// calculate normal's length
-			double fLength = LENGTHOF(vNormal);
-
-			// if long enough
-			if ( fLength > 0.0f ) {
-
-				// normalize depth
-				double fOneOverLength = 1.0f/fLength;
-				fDepth = fDepth*fOneOverLength;
-				fD*=fOneOverLength;
-
-				// if lower depth than best found so far (favor face over edges)
-				if (fDepth*1.5f < m_fBestDepth) {
-					// remember current axis as best axis
-					//	      m_vBestNormal[0]  = vNormal[0]*fOneOverLength;
-					//	      m_vBestNormal[1]  = vNormal[1]*fOneOverLength;
-					//	      m_vBestNormal[2]  = vNormal[2]*fOneOverLength;
-					m_vBestNormal.set(vNormal).scale(fOneOverLength);  // TODO TZ here positive, above negative, correct? 
-					m_iBestAxis    = iAxis;
-					//dAASSERT(fDepth>=0);
-					m_fBestDepth   = fDepth;
-				}
-			}
-
-			return true;
-		}
-
-
-		// clip polygon with plane and generate new polygon points
-		//	static void _cldClipPolyToPlane( dVector3 avArrayIn[], int ctIn,
-		//	                      dVector3 avArrayOut[], int &ctOut,
-		//	                      const dVector4 &plPlane )
-		void _cldClipPolyToPlane( DVector3 avArrayIn[], int ctIn,
-				DVector3 avArrayOut[], RefInt ctOut,
-				final DVector4C plPlane )
-		{
-			// start with no output points
-			ctOut.i = 0;
-
-			int i0 = ctIn-1;
-
-			// for each edge in input polygon
-			for (int i1=0; i1<ctIn; i0=i1, i1++) {
-
-
-				// calculate distance of edge points to plane
-				double fDistance0 = POINTDISTANCE( plPlane ,avArrayIn[i0] );
-				double fDistance1 = POINTDISTANCE( plPlane ,avArrayIn[i1] );
-
-
-				// if first point is in front of plane
-				if( fDistance0 >= 0 ) {
-					// emit point
-					//	      avArrayOut[ctOut][0] = avArrayIn[i0][0];
-					//	      avArrayOut[ctOut][1] = avArrayIn[i0][1];
-					//	      avArrayOut[ctOut][2] = avArrayIn[i0][2];
-					avArrayOut[ctOut.i].set( avArrayIn[i0] ); 
-					ctOut.i++;
-				}
-
-				// if points are on different sides
-				if( (fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0) ) {
-
-					// find intersection point of edge and plane
-					DVector3 vIntersectionPoint = new DVector3();
-					//	      vIntersectionPoint[0]= avArrayIn[i0][0] - (avArrayIn[i0][0]-avArrayIn[i1][0])*fDistance0/(fDistance0-fDistance1);
-					//	      vIntersectionPoint[1]= avArrayIn[i0][1] - (avArrayIn[i0][1]-avArrayIn[i1][1])*fDistance0/(fDistance0-fDistance1);
-					//	      vIntersectionPoint[2]= avArrayIn[i0][2] - (avArrayIn[i0][2]-avArrayIn[i1][2])*fDistance0/(fDistance0-fDistance1);
-					vIntersectionPoint.eqDiff( avArrayIn[i0], avArrayIn[i1] );
-					vIntersectionPoint.scale( - fDistance0/(fDistance0-fDistance1) ); //negate!
-					vIntersectionPoint.add( avArrayIn[i0] );
-
-					// emit intersection point
-					//	      avArrayOut[ctOut][0] = vIntersectionPoint[0];
-					//	      avArrayOut[ctOut][1] = vIntersectionPoint[1];
-					//	      avArrayOut[ctOut][2] = vIntersectionPoint[2];
-					avArrayOut[ctOut.i].set( vIntersectionPoint );
-					ctOut.i++;
-				}
-			}
-
-		}
-
-
-		//	bool sTrimeshBoxColliderData::_cldTestSeparatingAxes(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2) {
-		boolean _cldTestSeparatingAxes(final DVector3C v0, final DVector3C v1, final DVector3C v2) {
-			// reset best axis
-			m_iBestAxis = 0;
-			m_iExitAxis = -1;
-			m_fBestDepth = MAXVALUE;
-
-			// calculate edges
-			SUBTRACT(v1,v0,m_vE0);
-			SUBTRACT(v2,v0,m_vE1);
-			SUBTRACT(m_vE1,m_vE0,m_vE2);
-
-			// calculate poly normal
-			//dCROSS(m_vN,=,m_vE0,m_vE1);
-			m_vN.eqCross(m_vE0, m_vE1);
-
-			// calculate length of face normal
-			double fNLen = LENGTHOF(m_vN);
-
-			// Even though all triangles might be initially valid, 
-			// a triangle may degenerate into a segment after applying 
-			// space transformation.
-			if (fNLen == 0) {
-				return false;
-			}
-
-			// extract box axes as vectors
-			DVector3 vA0 = new DVector3(), vA1 = new DVector3(), vA2 = new DVector3();
-			GETCOL(m_mHullBoxRot,0,vA0);
-			GETCOL(m_mHullBoxRot,1,vA1);
-			GETCOL(m_mHullBoxRot,2,vA2);
-
-			// box halfsizes
-			double fa0 = m_vBoxHalfSize.get0();
-			double fa1 = m_vBoxHalfSize.get1();
-			double fa2 = m_vBoxHalfSize.get2();
-
-			// calculate relative position between box and triangle
-			DVector3 vD = new DVector3();
-			SUBTRACT(v0,m_vHullBoxPos,vD);
-
-			DVector3 vL = new DVector3();
-			double fp0, fp1, fp2, fR, fD;
-
-			// Test separating axes for intersection
-			// ************************************************
-			// Axis 1 - Triangle Normal
-			SET(vL,m_vN);
-			fp0  = vL.dot(vD);
-			fp1  = fp0;
-			fp2  = fp0;
-			fR=fa0*dFabs( m_vN.dot(vA0) ) + fa1 * dFabs( m_vN.dot(vA1) ) + fa2 * dFabs( m_vN.dot(vA2) );
-
-			if (!_cldTestNormal(fp0, fR, vL, 1)) {
-				m_iExitAxis=1;
-				return false;
-			}
-
-			// ************************************************
-
-			// Test Faces
-			// ************************************************
-			// Axis 2 - Box X-Axis
-			SET(vL,vA0);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 + vA0.dot(m_vE0);
-			fp2 = fp0 + vA0.dot(m_vE1);
-			fR  = fa0;
-
-			if (!_cldTestFace(fp0, fp1, fp2, fR, fD, vL, 2)) {
-				m_iExitAxis=2;
-				return false;
-			}
-			// ************************************************
-
-			// ************************************************
-			// Axis 3 - Box Y-Axis
-			SET(vL,vA1);
-			fD = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 + vA1.dot(m_vE0);
-			fp2 = fp0 + vA1.dot(m_vE1);
-			fR  = fa1;
-
-			if (!_cldTestFace(fp0, fp1, fp2, fR, fD, vL, 3)) {
-				m_iExitAxis=3;
-				return false;
-			}
-
-			// ************************************************
-
-			// ************************************************
-			// Axis 4 - Box Z-Axis
-			SET(vL,vA2);
-			fD = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 + vA2.dot(m_vE0);
-			fp2 = fp0 + vA2.dot(m_vE1);
-			fR  = fa2;
-
-			if (!_cldTestFace(fp0, fp1, fp2, fR, fD, vL, 4)) {
-				m_iExitAxis=4;
-				return false;
-			}
-
-			// ************************************************
-
-			// Test Edges
-			// ************************************************
-			// Axis 5 - Box X-Axis cross Edge0
-			//dCROSS(vL,=,vA0,m_vE0);
-			vL.eqCross(vA0, m_vE0);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0;
-			fp2 = fp0 + vA0.dot(m_vN);
-			fR  = fa1 * dFabs(vA2.dot(m_vE0)) + fa2 * dFabs(vA1.dot(m_vE0));
-
-			if (!_cldTestEdge(fp1, fp2, fR, fD, vL, 5)) {
-				m_iExitAxis=5;
-				return false;
-			}
-			// ************************************************
-
-			// ************************************************
-			// Axis 6 - Box X-Axis cross Edge1
-			//dCROSS(vL,=,vA0,m_vE1);
-			vL.eqCross(vA0, m_vE1);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA0.dot(m_vN);
-			fp2 = fp0;
-			fR  = fa1 * dFabs(vA2.dot(m_vE1)) + fa2 * dFabs(vA1.dot(m_vE1));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 6)) {
-				m_iExitAxis=6;
-				return false;
-			}
-			// ************************************************
-
-			// ************************************************
-			// Axis 7 - Box X-Axis cross Edge2
-			//dCROSS(vL,=,vA0,m_vE2);
-			vL.eqCross(vA0, m_vE2);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA0.dot(m_vN);
-			fp2 = fp0 - vA0.dot(m_vN);
-			fR  = fa1 * dFabs(vA2.dot(m_vE2)) + fa2 * dFabs(vA1.dot(m_vE2));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 7)) {
-				m_iExitAxis=7;
-				return false;
-			}
-
-			// ************************************************
-
-			// ************************************************
-			// Axis 8 - Box Y-Axis cross Edge0
-			//dCROSS(vL,=,vA1,m_vE0);
-			vL.eqCross(vA1, m_vE0);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0;
-			fp2 = fp0 + vA1.dot(m_vN);
-			fR  = fa0 * dFabs(vA2.dot(m_vE0)) + fa2 * dFabs(vA0.dot(m_vE0));
-
-			if (!_cldTestEdge(fp0, fp2, fR, fD, vL, 8)) {
-				m_iExitAxis=8;
-				return false;
-			}
-
-			// ************************************************
-
-			// ************************************************
-			// Axis 9 - Box Y-Axis cross Edge1
-			//dCROSS(vL,=,vA1,m_vE1);
-			vL.eqCross(vA1, m_vE1);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA1.dot(m_vN);
-			fp2 = fp0;
-			fR  = fa0 * dFabs(vA2.dot(m_vE1)) + fa2 * dFabs(vA0.dot(m_vE1));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 9)) {
-				m_iExitAxis=9;
-				return false;
-			}
-
-			// ************************************************
-
-			// ************************************************
-			// Axis 10 - Box Y-Axis cross Edge2
-			//dCROSS(vL,=,vA1,m_vE2);
-			vL.eqCross(vA1, m_vE2);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA1.dot(m_vN);
-			fp2 = fp0 - vA1.dot(m_vN);
-			fR  = fa0 * dFabs(vA2.dot(m_vE2)) + fa2 * dFabs(vA0.dot(m_vE2));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 10)) {
-				m_iExitAxis=10;
-				return false;
-			}
-
-			// ************************************************
-
-			// ************************************************
-			// Axis 11 - Box Z-Axis cross Edge0
-			//dCROSS(vL,=,vA2,m_vE0);
-			vL.eqCross(vA2, m_vE0);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0;
-			fp2 = fp0 + vA2.dot(m_vN);
-			fR  = fa0 * dFabs(vA1.dot(m_vE0)) + fa1 * dFabs(vA0.dot(m_vE0));
-
-			if (!_cldTestEdge(fp0, fp2, fR, fD, vL, 11)) {
-				m_iExitAxis=11;
-				return false;
-			}
-			// ************************************************
-
-			// ************************************************
-			// Axis 12 - Box Z-Axis cross Edge1
-			//dCROSS(vL,=,vA2,m_vE1);
-			vL.eqCross(vA2, m_vE1);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA2.dot(m_vN);
-			fp2 = fp0;
-			fR  = fa0 * dFabs(vA1.dot(m_vE1)) + fa1 * dFabs(vA0.dot(m_vE1));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 12)) {
-				m_iExitAxis=12;
-				return false;
-			}
-			// ************************************************
-
-			// ************************************************
-			// Axis 13 - Box Z-Axis cross Edge2
-			//	  OdeMath.dCROSS(vL,OP.EQ,vA2,m_vE2);
-			vL.eqCross(vA2, m_vE2);
-			fD  = vL.dot(m_vN)/fNLen;
-			fp0 = vL.dot(vD);
-			fp1 = fp0 - vA2.dot(m_vN);
-			fp2 = fp0 - vA2.dot(m_vN);
-			fR  = fa0 * dFabs(vA1.dot(m_vE2)) + fa1 * dFabs(vA0.dot(m_vE2));
-
-			if (!_cldTestEdge(fp0, fp1, fR, fD, vL, 13)) {
-				m_iExitAxis=13;
-				return false;
-			}
-
-			// ************************************************
-			return true;
-		}
-
-
-
-
-
-		// find two closest points on two lines
-		//	static bool _cldClosestPointOnTwoLines( dVector3 vPoint1, dVector3 vLenVec1,
-		//	                                        dVector3 vPoint2, dVector3 vLenVec2,
-		//	                                        dReal &fvalue1, dReal &fvalue2)
-		boolean _cldClosestPointOnTwoLines( DVector3C vPoint1, DVector3C vLenVec1,
-				DVector3C vPoint2, DVector3C vLenVec2,
-				RefDouble fvalue1, RefDouble fvalue2)
-		{
-			// calculate denominator
-			DVector3 vp = new DVector3();
-			SUBTRACT(vPoint2,vPoint1,vp);
-			double fuaub  = vLenVec1.dot(vLenVec2);
-			double fq1    = vLenVec1.dot(vp);
-			double fq2    = -vLenVec2.dot(vp);
-			double fd     = 1.0f - fuaub * fuaub;
-
-			// if denominator is positive
-			if (fd > 0.0f) {
-				// calculate points of closest approach
-				fd = 1.0f/fd;
-				fvalue1.d = (fq1 + fuaub*fq2)*fd;
-				fvalue2.d = (fuaub*fq1 + fq2)*fd;
-				return true;
-				// otherwise
-			} else {
-				// lines are parallel
-				fvalue1.d = 0.0f;
-				fvalue2.d = 0.0f;
-				return false;
-			}
-		}
-
-
-
-
-
-		// clip and generate contacts
-		//	void sTrimeshBoxColliderData::_cldClipping(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2, int TriIndex) {
-		void _cldClipping(final DVector3C v0, final DVector3C v1, final DVector3C v2, final int TriIndex) {
-			dIASSERT( ((m_iFlags & CONTACTS_UNIMPORTANT)==0) || m_ctContacts.i < (m_iFlags & DxGeom.NUMC_MASK) ); // Do not call the function if there is no room to store results
-
-			// if we have edge/edge intersection
-			if (m_iBestAxis > 4 ) {
-				DVector3 vub = new DVector3(), vPb = new DVector3(), vPa = new DVector3();
-
-				SET(vPa,m_vHullBoxPos);
-
-				// calculate point on box edge
-				for( int i=0; i<3; i++) {
-					DVector3 vRotCol = new DVector3();
-					GETCOL(m_mHullBoxRot,i,vRotCol);
-					double fSign = m_vBestNormal.dot(vRotCol) > 0 ? 1.0f : -1.0f;
-
-					//	      vPa[0] += fSign * m_vBoxHalfSize[i] * vRotCol[0];
-					//	      vPa[1] += fSign * m_vBoxHalfSize[i] * vRotCol[1];
-					//	      vPa[2] += fSign * m_vBoxHalfSize[i] * vRotCol[2];
-					vPa.addScaled( vRotCol, fSign * m_vBoxHalfSize.get(i));  //TODO use colView!
-				}
-
-				int iEdge = (m_iBestAxis-5)%3;
-
-				// decide which edge is on triangle
-				if ( iEdge == 0 ) {
-					SET(vPb,v0);
-					SET(vub,m_vE0);
-				} else if ( iEdge == 1) {
-					SET(vPb,v2);
-					SET(vub,m_vE1);
-				} else {
-					SET(vPb,v1);
-					SET(vub,m_vE2);
-				}
-
-
-				// setup direction parameter for face edge
-				//dNormalize3(vub);
-				vub.normalize();
-
-				RefDouble fParam1 = new RefDouble(), fParam2 = new RefDouble();
-
-				// setup direction parameter for box edge
-				DVector3 vua = new DVector3();
-				int col=(m_iBestAxis-5)/3;
-				GETCOL(m_mHullBoxRot,col,vua);
-
-				// find two closest points on both edges
-				_cldClosestPointOnTwoLines( vPa, vua, vPb, vub, fParam1, fParam2 );
-				//	    vPa[0] += vua[0]*fParam1;
-				//	    vPa[1] += vua[1]*fParam1;
-				//	    vPa[2] += vua[2]*fParam1;
-				vPa.addScaled( vua, fParam1.d );
-
-				//	    vPb[0] += vub[0]*fParam2;
-				//	    vPb[1] += vub[1]*fParam2;
-				//	    vPb[2] += vub[2]*fParam2;
-				vPb.addScaled( vub, fParam2.d );
-
-				// calculate collision point
-				DVector3 vPntTmp = new DVector3();
-				ADD(vPa,vPb,vPntTmp);
-
-				//	    vPntTmp[0]*=0.5f;
-				//	    vPntTmp[1]*=0.5f;
-				//	    vPntTmp[2]*=0.5f;
-				vPntTmp.scale( 0.5 );
-
-				// generate contact point between two closest points
-				//	#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-				//		dContactGeom* Contact = SAFECONTACT(m_iFlags, m_ContactGeoms, m_ctContacts, m_iStride);
-				//		Contact->depth = m_fBestDepth;
-				//		SET(Contact->normal,m_vBestNormal);
-				//		SET(Contact->pos,vPntTmp);
-				//		Contact->g1 = Geom1;
-				//		Contact->g2 = Geom2;
-				//		Contact->side1 = TriIndex;
-				//		Contact->side2 = -1;
-				//		m_ctContacts++;
-				//	#endif
-				GenerateContact(m_iFlags, m_ContactGeoms, m_iStride, m_Geom1, m_Geom2, TriIndex,
-						vPntTmp, m_vBestNormal, m_fBestDepth, m_ctContacts);
-
-
-				// if triangle is the referent face then clip box to triangle face
-			} else if (m_iBestAxis == 1) {
-
-				DVector3 vNormal2 = new DVector3();
-				//	    vNormal2[0]=-m_vBestNormal[0];
-				//	    vNormal2[1]=-m_vBestNormal[1];
-				//	    vNormal2[2]=-m_vBestNormal[2];
-				vNormal2.set( m_vBestNormal ).scale( -1 );
-
-
-				// vNr is normal in box frame, pointing from triangle to box
-				DMatrix3 mTransposed;// = new DMatrix3();
-				//	    mTransposed[0*4+0]=m_mHullBoxRot[0*4+0];
-				//	    mTransposed[0*4+1]=m_mHullBoxRot[1*4+0];
-				//	    mTransposed[0*4+2]=m_mHullBoxRot[2*4+0];
-				//
-				//	    mTransposed[1*4+0]=m_mHullBoxRot[0*4+1];
-				//	    mTransposed[1*4+1]=m_mHullBoxRot[1*4+1];
-				//	    mTransposed[1*4+2]=m_mHullBoxRot[2*4+1];
-				//
-				//	    mTransposed[2*4+0]=m_mHullBoxRot[0*4+2];
-				//	    mTransposed[2*4+1]=m_mHullBoxRot[1*4+2];
-				//	    mTransposed[2*4+2]=m_mHullBoxRot[2*4+2];
-				mTransposed = m_mHullBoxRot.reTranspose();
-
-				DVector3 vNr = new DVector3();
-				//	    vNr[0]=mTransposed[0*4+0]*vNormal2[0]+  mTransposed[0*4+1]*vNormal2[1]+  mTransposed[0*4+2]*vNormal2[2];
-				//	    vNr[1]=mTransposed[1*4+0]*vNormal2[0]+  mTransposed[1*4+1]*vNormal2[1]+  mTransposed[1*4+2]*vNormal2[2];
-				//	    vNr[2]=mTransposed[2*4+0]*vNormal2[0]+  mTransposed[2*4+1]*vNormal2[1]+  mTransposed[2*4+2]*vNormal2[2];
-				vNr.eqProd(mTransposed, vNormal2);
-
-
-				DVector3 vAbsNormal = new DVector3();
-				//	    vAbsNormal[0] = dFabs( vNr[0] );
-				//	    vAbsNormal[1] = dFabs( vNr[1] );
-				//	    vAbsNormal[2] = dFabs( vNr[2] );
-				vAbsNormal.set( vNr ).eqAbs();
-
-				// get closest face from box
-				int iB0, iB1, iB2;
-				if (vAbsNormal.get1() > vAbsNormal.get0()) {
-					if (vAbsNormal.get1() > vAbsNormal.get2()) {
-						iB1 = 0;  iB0 = 1;  iB2 = 2;
-					} else {
-						iB1 = 0;  iB2 = 1;  iB0 = 2;
-					}
-				} else {
-
-					if (vAbsNormal.get0() > vAbsNormal.get2()) {
-						iB0 = 0;  iB1 = 1;  iB2 = 2;
-					} else {
-						iB1 = 0;  iB2 = 1;  iB0 = 2;
-					}
-				}
-
-				// Here find center of box face we are going to project
-				DVector3 vCenter = new DVector3();
-				DVector3 vRotCol = new DVector3();
-				GETCOL(m_mHullBoxRot,iB0,vRotCol);
-
-				if (vNr.get(iB0) > 0) {
-					//	        vCenter[0] = m_vHullBoxPos[0] - v0[0] - m_vBoxHalfSize[iB0] * vRotCol[0];
-					//	      vCenter[1] = m_vHullBoxPos[1] - v0[1] - m_vBoxHalfSize[iB0] * vRotCol[1];
-					//	      vCenter[2] = m_vHullBoxPos[2] - v0[2] - m_vBoxHalfSize[iB0] * vRotCol[2];
-					vCenter.eqSum(v0, -1, vRotCol, -m_vBoxHalfSize.get(iB0));
-					vCenter.add(m_vHullBoxPos);
-				} else {
-					//	      vCenter[0] = m_vHullBoxPos[0] - v0[0] + m_vBoxHalfSize[iB0] * vRotCol[0];
-					//	      vCenter[1] = m_vHullBoxPos[1] - v0[1] + m_vBoxHalfSize[iB0] * vRotCol[1];
-					//	      vCenter[2] = m_vHullBoxPos[2] - v0[2] + m_vBoxHalfSize[iB0] * vRotCol[2];
-					vCenter.eqSum(v0, -1, vRotCol, m_vBoxHalfSize.get(iB0));
-					vCenter.add(m_vHullBoxPos);
-				}
-
-				// Here find 4 corner points of box
-				DVector3[] avPoints = { new DVector3(), new DVector3(), new DVector3(), new DVector3() };//[4];
-
-				DVector3 vRotCol2 = new DVector3();
-				GETCOL(m_mHullBoxRot,iB1,vRotCol);
-				GETCOL(m_mHullBoxRot,iB2,vRotCol2);
-
-				//	    for(int x=0;x<3;x++) {
-				//	        avPoints[0][x] = vCenter[x] + (m_vBoxHalfSize[iB1] * vRotCol[x]) - (m_vBoxHalfSize[iB2] * vRotCol2[x]);
-				//	        avPoints[1][x] = vCenter[x] - (m_vBoxHalfSize[iB1] * vRotCol[x]) - (m_vBoxHalfSize[iB2] * vRotCol2[x]);
-				//	        avPoints[2][x] = vCenter[x] - (m_vBoxHalfSize[iB1] * vRotCol[x]) + (m_vBoxHalfSize[iB2] * vRotCol2[x]);
-				//	        avPoints[3][x] = vCenter[x] + (m_vBoxHalfSize[iB1] * vRotCol[x]) + (m_vBoxHalfSize[iB2] * vRotCol2[x]);
-				//	    }
-				double tz1 = m_vBoxHalfSize.get(iB1);
-				double tz2 = m_vBoxHalfSize.get(iB2);
-				avPoints[0].eqSum( vRotCol,  tz1, vRotCol2, -tz2).add (vCenter);
-				avPoints[1].eqSum( vRotCol, -tz1, vRotCol2, -tz2).add (vCenter);
-				avPoints[2].eqSum( vRotCol, -tz1, vRotCol2,  tz2).add (vCenter);
-				avPoints[3].eqSum( vRotCol,  tz1, vRotCol2,  tz2).add (vCenter);
-
-				// clip Box face with 4 planes of triangle (1 face plane, 3 egde planes)
-				DVector3[] avTempArray1 = DVector3.newArray(9);
-				DVector3[] avTempArray2 = DVector3.newArray(9);
-				DVector4 plPlane = new DVector4();
-
-				RefInt iTempCnt1 = new RefInt(0);
-				RefInt iTempCnt2 = new RefInt(0);
-
-				// zeroify vectors - necessary?
-				//				for(int i=0; i<9; i++) {
-				//					//	      avTempArray1[i][0]=0;
-				//					//	      avTempArray1[i][1]=0;
-				//					//	      avTempArray1[i][2]=0;
-				//					avTempArray1[i] = new DVector3();
-				//
-				//					//	      avTempArray2[i][0]=0;
-				//					//	      avTempArray2[i][1]=0;
-				//					//	      avTempArray2[i][2]=0;
-				//					avTempArray2[i] = new DVector3();
-				//				}
-
-
-				// Normal plane
-				DVector3 vTemp = new DVector3();
-				//	    vTemp[0]=-m_vN[0];
-				//	    vTemp[1]=-m_vN[1];
-				//	    vTemp[2]=-m_vN[2];
-				vTemp.set( m_vN ).scale(-1);
-				//dNormalize3(vTemp);
-				vTemp.normalize();
-				CONSTRUCTPLANE(plPlane,vTemp,0);
-
-				_cldClipPolyToPlane( avPoints, 4, avTempArray1, iTempCnt1, plPlane  );
-
-
-				// Plane p0
-				DVector3 vTemp2 = new DVector3();
-				SUBTRACT(v1,v0,vTemp2);
-				//dCROSS(vTemp,=,m_vN,vTemp2);
-				vTemp.eqCross(m_vN, vTemp2);
-				//dNormalize3(vTemp);
-				vTemp.normalize();
-				CONSTRUCTPLANE(plPlane,vTemp,0);
-
-				_cldClipPolyToPlane( avTempArray1, iTempCnt1.i, avTempArray2, iTempCnt2, plPlane  );
-
-				// Plane p1
-				SUBTRACT(v2,v1,vTemp2);
-				//dCROSS(vTemp,=,m_vN,vTemp2);
-				vTemp.eqCross(m_vN, vTemp2);
-				//dNormalize3(vTemp);
-				vTemp.normalize();
-				SUBTRACT(v0,v2,vTemp2);
-				CONSTRUCTPLANE(plPlane,vTemp,vTemp2.dot(vTemp));
-
-				_cldClipPolyToPlane( avTempArray2, iTempCnt2.i, avTempArray1, iTempCnt1, plPlane  );
-
-				// Plane p2
-				SUBTRACT(v0,v2,vTemp2);
-				//dCROSS(vTemp,=,m_vN,vTemp2);
-				vTemp.eqCross(m_vN, vTemp2);
-				//dNormalize3(vTemp);
-				vTemp.normalize();
-				CONSTRUCTPLANE(plPlane,vTemp,0);
-
-				_cldClipPolyToPlane( avTempArray1, iTempCnt1.i, avTempArray2, iTempCnt2, plPlane  );
-
-				// END of clipping polygons
-
-				// for each generated contact point
-				for ( int i=0; i<iTempCnt2.i; i++ ) {
-					// calculate depth
-					double fTempDepth = vNormal2.dot(avTempArray2[i]);
-
-					// clamp depth to zero
-					if (fTempDepth > 0) {
-						fTempDepth = 0;
-					}
-
-					DVector3 vPntTmp = new DVector3();
-					ADD(avTempArray2[i],v0,vPntTmp);
-
-					//	#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-					//	      dContactGeom* Contact = SAFECONTACT(m_iFlags, m_ContactGeoms, m_ctContacts, m_iStride);
-					//		  
-					//	      Contact->depth = -fTempDepth;
-					//	      SET(Contact->normal,m_vBestNormal);
-					//	      SET(Contact->pos,vPntTmp);
-					//	      Contact->g1 = Geom1;
-					//	      Contact->g2 = Geom2;
-					//		  Contact->side1 = TriIndex;
-					//		  Contact->side2 = -1;
-					//	      m_ctContacts++;
-					//	#endif
-					GenerateContact(m_iFlags, m_ContactGeoms, m_iStride,  m_Geom1, m_Geom2, TriIndex,
-							vPntTmp, m_vBestNormal, -fTempDepth, m_ctContacts);
-
-					if ((m_ctContacts.i | CONTACTS_UNIMPORTANT) == (m_iFlags & (DxGeom.NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-						break;
-					}
-				}
-
-				//dAASSERT(m_ctContacts>0);
-
-				// if box face is the referent face, then clip triangle on box face
-			} else { // 2 <= if iBestAxis <= 4
-
-				// get normal of box face
-				DVector3 vNormal2 = new DVector3();
-				SET(vNormal2,m_vBestNormal);
-
-				// get indices of box axes in correct order
-				int iA0,iA1,iA2;
-				iA0 = m_iBestAxis-2;
-				if ( iA0 == 0 ) {
-					iA1 = 1; iA2 = 2;
-				} else if ( iA0 == 1 ) {
-					iA1 = 0; iA2 = 2;
-				} else {
-					iA1 = 0; iA2 = 1;
-				}
-
-				DVector3[] avPoints = { new DVector3(), new DVector3(), new DVector3() };//new DVector3[3];
-				// calculate triangle vertices in box frame
-				SUBTRACT(v0,m_vHullBoxPos,avPoints[0]);
-				SUBTRACT(v1,m_vHullBoxPos,avPoints[1]);
-				SUBTRACT(v2,m_vHullBoxPos,avPoints[2]);
-
-				// CLIP Polygons
-				// define temp data for clipping
-				DVector3[] avTempArray1 = DVector3.newArray(9);
-				DVector3[] avTempArray2 = DVector3.newArray(9);
-
-				RefInt iTempCnt1 = new RefInt(), iTempCnt2 = new RefInt();
-
-				// zeroify vectors - necessary?
-				//				for(int i=0; i<9; i++) {
-				//					//	      avTempArray1[i][0]=0;
-				//					//	      avTempArray1[i][1]=0;
-				//					//	      avTempArray1[i][2]=0;
-				//					avTempArray1[i] = new DVector3();
-				//
-				//					//	      avTempArray2[i][0]=0;
-				//					//	      avTempArray2[i][1]=0;
-				//					//	      avTempArray2[i][2]=0;
-				//					avTempArray2[i] = new DVector3();
-				//				}
-
-				// clip triangle with 5 box planes (1 face plane, 4 edge planes)
-
-				DVector4 plPlane = new DVector4();
-
-				// Normal plane
-				DVector3 vTemp = new DVector3();
-				//	    vTemp[0]=-vNormal2[0];
-				//	    vTemp[1]=-vNormal2[1];
-				//	    vTemp[2]=-vNormal2[2];
-				vTemp.set(vNormal2).scale(-1);
-				CONSTRUCTPLANE(plPlane,vTemp,m_vBoxHalfSize.get(iA0));
-
-				_cldClipPolyToPlane( avPoints, 3, avTempArray1, iTempCnt1, plPlane );
-
-
-				// Plane p0
-				GETCOL(m_mHullBoxRot,iA1,vTemp);
-				CONSTRUCTPLANE(plPlane,vTemp,m_vBoxHalfSize.get(iA1));
-
-				_cldClipPolyToPlane( avTempArray1, iTempCnt1.i, avTempArray2, iTempCnt2, plPlane );
-
-
-				// Plane p1
-				GETCOL(m_mHullBoxRot,iA1,vTemp);
-				//	    vTemp[0]=-vTemp[0];
-				//	    vTemp[1]=-vTemp[1];
-				//	    vTemp[2]=-vTemp[2];
-				vTemp.scale(-1);
-				CONSTRUCTPLANE(plPlane,vTemp,m_vBoxHalfSize.get(iA1));
-
-				_cldClipPolyToPlane( avTempArray2, iTempCnt2.i, avTempArray1, iTempCnt1, plPlane );
-
-				// Plane p2
-				GETCOL(m_mHullBoxRot,iA2,vTemp);
-				CONSTRUCTPLANE(plPlane,vTemp,m_vBoxHalfSize.get(iA2));
-
-				_cldClipPolyToPlane( avTempArray1, iTempCnt1.i, avTempArray2, iTempCnt2, plPlane );
-
-				// Plane p3
-				GETCOL(m_mHullBoxRot,iA2,vTemp);
-				//	    vTemp[0]=-vTemp[0];
-				//	    vTemp[1]=-vTemp[1];
-				//	    vTemp[2]=-vTemp[2];
-				vTemp.scale(-1);
-				CONSTRUCTPLANE(plPlane,vTemp,m_vBoxHalfSize.get(iA2));
-
-				_cldClipPolyToPlane( avTempArray2, iTempCnt2.i, avTempArray1, iTempCnt1, plPlane );
-
-
-				// for each generated contact point
-				for ( int i=0; i<iTempCnt1.i; i++ ) {
-					// calculate depth
-					double fTempDepth = vNormal2.dot(avTempArray1[i])-m_vBoxHalfSize.get(iA0);
-
-					// clamp depth to zero
-					if (fTempDepth > 0) {
-						fTempDepth = 0;
-					}
-
-					// generate contact data
-					DVector3 vPntTmp = new DVector3();
-					ADD(avTempArray1[i],m_vHullBoxPos,vPntTmp);
-
-					//	#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-					//	      dContactGeom* Contact = SAFECONTACT(m_iFlags, m_ContactGeoms, m_ctContacts, m_iStride);
-					//
-					//	      Contact->depth = -fTempDepth;
-					//	      SET(Contact->normal,m_vBestNormal);
-					//	      SET(Contact->pos,vPntTmp);
-					//	      Contact->g1 = Geom1;
-					//	      Contact->g2 = Geom2;
-					//		  Contact->side1 = TriIndex;
-					//		  Contact->side2 = -1;
-					//	      m_ctContacts++;
-					//	#endif
-					GenerateContact(m_iFlags, m_ContactGeoms, m_iStride,  m_Geom1, m_Geom2, TriIndex,
-							vPntTmp, m_vBestNormal, -fTempDepth, m_ctContacts);
-
-					if ((m_ctContacts.i | CONTACTS_UNIMPORTANT) == (m_iFlags & (DxGeom.NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-						break;
-					}
-				}
-
-				//dAASSERT(m_ctContacts>0);
-			}
-		}
-
-
-
-
-
-		// test one mesh triangle on intersection with given box
-		//	void sTrimeshBoxColliderData::_cldTestOneTriangle(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2, int TriIndex)//, void *pvUser)
-		private void _cldTestOneTriangle(final DVector3C v0, final DVector3C v1, 
-				final DVector3C v2, int TriIndex)//, void *pvUser)
-		{
-			// do intersection test and find best separating axis
-			if(!_cldTestSeparatingAxes(v0, v1, v2)) {
-				// if not found do nothing
-				return;
-			}
-
-			// if best separation axis is not found
-			if (m_iBestAxis == 0) {
-				// this should not happen (we should already exit in that case)
-				//dMessage (0, "best separation axis not found");
-				// do nothing
-				return;
-			}
-
-			_cldClipping(v0, v1, v2, TriIndex);
-		}
-
-
-		//	void sTrimeshBoxColliderData::SetupInitialContext(dxTriMesh *TriMesh, dxGeom *BoxGeom,
-		//		int Flags, dContactGeom* Contacts, int Stride)
-		void SetupInitialContext(DxTriMesh TriMesh, DxBox BoxGeom,
-				int Flags, DContactGeomBuffer Contacts, int Stride)
-		{
-			//	  // get source hull position, orientation and half size
-			//	  const dMatrix3& mRotBox=*(const dMatrix3*)dGeomGetRotation(BoxGeom);
-			//	  const dVector3& vPosBox=*(const dVector3*)dGeomGetPosition(BoxGeom);
-			//
-			//	  // to global
-			//	  SETM(m_mHullBoxRot,mRotBox);
-			//	  SET(m_vHullBoxPos,vPosBox);
-			m_mHullBoxRot.set(BoxGeom.getRotation());
-			m_vHullBoxPos.set(BoxGeom.getPosition());
-
-			//dGeomBoxGetLengths(BoxGeom, m_vBoxHalfSize);
-			m_vBoxHalfSize.set(BoxGeom.getLengths());
-			//	  m_vBoxHalfSize[0] *= 0.5f;
-			//	  m_vBoxHalfSize[1] *= 0.5f;
-			//	  m_vBoxHalfSize[2] *= 0.5f;
-			m_vBoxHalfSize.scale(0.5f);
-
-			// get destination hull position and orientation
-			//	  const dVector3& vPosMesh=*(const dVector3*)dGeomGetPosition(TriMesh);
-			//
-			//	  // to global
-			//	  SET(m_vHullDstPos,vPosMesh);
-			m_vHullDstPos.set(TriMesh.getPosition());
-
-			// global info for contact creation
-			m_ctContacts.i = 0;
-			if (Stride != 1) throw new IllegalArgumentException("stride = " + Stride);
-			m_iStride=Stride;
-			m_iFlags=Flags;
-			m_ContactGeoms=Contacts;
-			m_Geom1=TriMesh;
-			m_Geom2=BoxGeom;
-
-			// reset stuff
-			m_fBestDepth = MAXVALUE;
-			//	  m_vBestNormal[0]=0;
-			//	  m_vBestNormal[1]=0;
-			//	  m_vBestNormal[2]=0;
-			m_vBestNormal.setZero();
-		}
-
-		//	int sTrimeshBoxColliderData::TestCollisionForSingleTriangle(int ctContacts0, int Triint, 
-		//		dVector3 dv[3], bool &bOutFinishSearching)
-		private int TestCollisionForSingleTriangle(int ctContacts0, int Triint, 
-				DVector3 dv[], RefBoolean bOutFinishSearching)
-		{
-			// test this triangle
-			_cldTestOneTriangle(dv[0],dv[1],dv[2],Triint);
-
-			// fill-in tri index for generated contacts
-			for (; ctContacts0 < m_ctContacts.i; ctContacts0++) {
-				//DContactGeom pContact = SAFECONTACT(m_iFlags, m_ContactGeoms, ctContacts0, m_iStride);
-				DContactGeom pContact = m_ContactGeoms.getSafe(m_iFlags, ctContacts0);
-				pContact.side1 = Triint;
-				pContact.side2 = -1;
-			}
-
-			/*
-		NOTE by Oleh_Derevenko:
-		The function continues checking triangles after maximal number
-		of contacts is reached because it selects maximal penetration depths.
-		See also comments in GenerateContact()
-			 */
-			bOutFinishSearching.b = ((m_ctContacts.i | CONTACTS_UNIMPORTANT) == (m_iFlags & (DxGeom.NUMC_MASK | CONTACTS_UNIMPORTANT)));
-
-			return ctContacts0;
-		}
-
-
-		//	// OPCODE version of box to mesh collider
-		//	#if dTRIMESH_OPCODE
-		//	static void dQueryBTLPotentialCollisionTriangles(OBBCollider &Collider, 
-		//	  const sTrimeshBoxColliderData &cData, dxTriMesh *TriMesh, dxGeom *BoxGeom,
-		//	  OBBCache &BoxCache)
-		//	{
-		//	  // get source hull position, orientation and half size
-		//	  const dMatrix3& mRotBox=*(const dMatrix3*)dGeomGetRotation(BoxGeom);
-		//	  const dVector3& vPosBox=*(const dVector3*)dGeomGetPosition(BoxGeom);
-		//
-		//	  // Make OBB
-		//	  OBB Box;
-		//	  Box.mCenter.x = vPosBox[0];
-		//	  Box.mCenter.y = vPosBox[1];
-		//	  Box.mCenter.z = vPosBox[2];
-		//
-		//	  // It is a potential issue to explicitly cast to float 
-		//	  // if custom width floating point type is introduced in OPCODE.
-		//	  // It is necessary to make a typedef and cast to it
-		//	  // (e.g. typedef float opc_float;)
-		//	  // However I'm not sure in what header it should be added.
-		//
-		//	  Box.mExtents.x = /*(float)*/cData.m_vBoxHalfSize[0];
-		//	  Box.mExtents.y = /*(float)*/cData.m_vBoxHalfSize[1];
-		//	  Box.mExtents.z = /*(float)*/cData.m_vBoxHalfSize[2];
-		//
-		//	  Box.mRot.m[0][0] = /*(float)*/mRotBox[0];
-		//	  Box.mRot.m[1][0] = /*(float)*/mRotBox[1];
-		//	  Box.mRot.m[2][0] = /*(float)*/mRotBox[2];
-		//
-		//	  Box.mRot.m[0][1] = /*(float)*/mRotBox[4];
-		//	  Box.mRot.m[1][1] = /*(float)*/mRotBox[5];
-		//	  Box.mRot.m[2][1] = /*(float)*/mRotBox[6];
-		//
-		//	  Box.mRot.m[0][2] = /*(float)*/mRotBox[8];
-		//	  Box.mRot.m[1][2] = /*(float)*/mRotBox[9];
-		//	  Box.mRot.m[2][2] = /*(float)*/mRotBox[10];
-		//
-		//	  Matrix4x4 amatrix;
-		//	  Matrix4x4 BoxMatrix = MakeMatrix(vPosBox, mRotBox, amatrix);
-		//
-		//	  Matrix4x4 InvBoxMatrix;
-		//	  InvertPRMatrix(InvBoxMatrix, BoxMatrix);
-		//
-		//	  // get destination hull position and orientation
-		//	  const dMatrix3& mRotMesh=*(const dMatrix3*)dGeomGetRotation(TriMesh);
-		//	  const dVector3& vPosMesh=*(const dVector3*)dGeomGetPosition(TriMesh);
-		//
-		//	  // TC results
-		//	  if (TriMesh->doBoxTC) {
-		//		dxTriMesh::BoxTC* BoxTC = 0;
-		//		for (int i = 0; i < TriMesh->BoxTCCache.size(); i++){
-		//			if (TriMesh->BoxTCCache[i].Geom == BoxGeom){
-		//				BoxTC = &TriMesh->BoxTCCache[i];
-		//				break;
-		//			}
-		//		}
-		//		if (!BoxTC){
-		//			TriMesh->BoxTCCache.push(dxTriMesh::BoxTC());
-		//
-		//			BoxTC = &TriMesh->BoxTCCache[TriMesh->BoxTCCache.size() - 1];
-		//			BoxTC->Geom = BoxGeom;
-		//		    BoxTC->FatCoeff = 1.1f; // Pierre recommends this, instead of 1.0
-		//		}
-		//
-		//		// Intersect
-		//		Collider.SetTemporalCoherence(true);
-		//		Collider.Collide(*BoxTC, Box, TriMesh->Data->BVTree, null, &MakeMatrix(vPosMesh, mRotMesh, amatrix));
-		//	  }
-		//	  else {
-		//			Collider.SetTemporalCoherence(false);
-		//			Collider.Collide(BoxCache, Box, TriMesh->Data->BVTree, null,
-		//							 &MakeMatrix(vPosMesh, mRotMesh, amatrix));
-		//		}
-		//	}
-		//
-		//	int dCollideBTL(dxGeom* g1, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){
-		//	  dIASSERT (Stride >= (int)sizeof(dContactGeom));
-		//	  dIASSERT (g1->type == dTriMeshClass);
-		//	  dIASSERT (BoxGeom->type == dBoxClass);
-		//	  dIASSERT ((Flags & NUMC_MASK) >= 1);
-		//
-		//	  dxTriMesh* TriMesh = (dxTriMesh*)g1;
-		//
-		//	  sTrimeshBoxColliderData cData;
-		//	  cData.SetupInitialContext(TriMesh, BoxGeom, Flags, Contacts, Stride);
-		//
-		//	  const unsigned uiTLSKind = TriMesh->getParentSpaceTLSKind();
-		//	  dIASSERT(uiTLSKind == BoxGeom->getParentSpaceTLSKind()); // The colliding spaces must use matching cleanup method
-		//	  TrimeshCollidersCache *pccColliderCache = GetTrimeshCollidersCache(uiTLSKind);
-		//	  OBBCollider& Collider = pccColliderCache->_OBBCollider;
-		//
-		//	  dQueryBTLPotentialCollisionTriangles(Collider, cData, TriMesh, BoxGeom,
-		//	    pccColliderCache->defaultBoxCache);
-		//
-		//	  if (!Collider.GetContactStatus()) {
-		//	  	// no collision occurred
-		//	  	return 0;
-		//	  }
-		//
-		//	  // Retrieve data
-		//	  int TriCount = Collider.GetNbTouchedPrimitives();
-		//	  const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
-		//
-		//	  if (TriCount != 0){
-		//	      if (TriMesh->ArrayCallback != null){
-		//	         TriMesh->ArrayCallback(TriMesh, BoxGeom, Triangles, TriCount);
-		//	    }
-		//
-		//	    // get destination hull position and orientation
-		//	    const dMatrix3& mRotMesh=*(const dMatrix3*)dGeomGetRotation(TriMesh);
-		//	    const dVector3& vPosMesh=*(const dVector3*)dGeomGetPosition(TriMesh);
-		//
-		//	    int ctContacts0 = 0;
-		//
-		//	    // loop through all intersecting triangles
-		//	    for (int i = 0; i < TriCount; i++){
-		//	        const int Triint = Triangles[i];
-		//	        if (!Callback(TriMesh, BoxGeom, Triint)) continue;
-		//
-		//	        dVector3 dv[3];
-		//			FetchTriangle(TriMesh, Triint, vPosMesh, mRotMesh, dv);
-		//
-		//			bool bFinishSearching;
-		//			ctContacts0 = cData.TestCollisionForSingleTriangle(ctContacts0, Triint, dv, bFinishSearching);
-		//
-		//			if (bFinishSearching) {
-		//				break;
-		//			}
-		//		}
-		//	  }
-		//
-		//	  return cData.m_ctContacts;
-		//	}
-		//	#endif
-
-	}  //TZ end of data?
-
-	// GIMPACT version of box to mesh collider
-	//	#if dTRIMESH_GIMPACT
-	//	int dCollideBTL(dxGeom* g1, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride)
-	int dCollideBTL(DxTriMesh g1, DxBox BoxGeom, int Flags, DContactGeomBuffer Contacts, int Stride)
-	{
-		dIASSERT (Stride >= 1);//(int)sizeof(dContactGeom));
-		//	  dIASSERT (g1.type == dTriMeshClass);
-		//	  dIASSERT (BoxGeom.type == dBoxClass);
-		dIASSERT ((Flags & DxGeom.NUMC_MASK) >= 1);
-
-
-		DxGimpact TriMesh = (DxGimpact) g1;
-
-		g1.recomputeAABB();
-		BoxGeom.recomputeAABB();
-
-
-		sTrimeshBoxColliderData cData = new sTrimeshBoxColliderData();
-		cData.SetupInitialContext(TriMesh, BoxGeom, Flags, Contacts, Stride);
-
-		//*****at first , collide box aabb******//
-
-		//GIM_TRIMESH * ptrimesh = &TriMesh.m_collision_trimesh;
-		GimTrimesh ptrimesh = TriMesh.m_collision_trimesh();
-		aabb3f test_aabb = new aabb3f();
-
-		DAABBC aabb = BoxGeom.getAABB();
-		test_aabb.minX = (float) aabb.getMin0();
-		test_aabb.maxX = (float) aabb.getMax0();
-		test_aabb.minY = (float) aabb.getMin1();
-		test_aabb.maxY = (float) aabb.getMax1();
-		test_aabb.minZ = (float) aabb.getMin2();
-		test_aabb.maxZ = (float) aabb.getMax2();
-
-		GimDynArrayInt collision_result = GimDynArrayInt.GIM_CREATE_BOXQUERY_LIST();
-
-		ptrimesh.getAabbSet().gim_aabbset_box_collision(test_aabb, collision_result);
-
-		if(collision_result.size()==0)
-		{
-			collision_result.GIM_DYNARRAY_DESTROY();
-			return 0;
-		}
-		//*****Set globals for box collision******//
-
-		//collide triangles
-
-		//GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
-		int[] boxesresult = collision_result.GIM_DYNARRAY_POINTER();
-		ptrimesh.gim_trimesh_locks_work_data();
-
-		int ctContacts0 = 0;
-
-		DVector3[] dv = { new DVector3(), new DVector3(), new DVector3() };
-		//vec3f[] dv = new vec3f[] { new vec3f(), new vec3f(), new vec3f() };//[3];
-		for(int i=0;i<collision_result.size();i++)
-		{
-			//			DVector3[] dvTZ = new DVector3[3];
-			//			vec3f[] dv = new vec3f[3];
-
-			int Triint = boxesresult[i];
-			ptrimesh.gim_trimesh_get_triangle_vertices(Triint, dv[0], dv[1], dv[2]);
-
-			RefBoolean bFinishSearching = new RefBoolean(false);
-			//dvTZ[0].set(dv[0].f);
-			//dvTZ[1].set(dv[1].f);
-			//dvTZ[2].set(dv[2].f);
-			ctContacts0 = cData.TestCollisionForSingleTriangle(ctContacts0, Triint, dv, bFinishSearching);
-
-			if (bFinishSearching.b)
-			{
-				break;
-			}
-		}
-
-		ptrimesh.gim_trimesh_unlocks_work_data();
-		collision_result.GIM_DYNARRAY_DESTROY();
-
-		return cData.m_ctContacts.i;
-	}
-	//	#endif  //GIMPACT
-
-
-	// GenerateContact - Written by Jeff Smith (jeff@burri.to)
-	//   Generate a "unique" contact.  A unique contact has a unique
-	//   position or normal.  If the potential contact has the same
-	//   position and normal as an existing contact, but a larger
-	//   penetration depth, this new depth is used instead
-	//
-	//	static void
-	//	GenerateContact(int in_Flags, dContactGeom* in_Contacts, int in_Stride,
-	//	                dxGeom* in_g1,  dxGeom* in_g2, int TriIndex,
-	//	                const dVector3 in_ContactPos, const dVector3 in_Normal, dReal in_Depth,
-	//	                int& OutTriCount)
-	static void
-	GenerateContact(int in_Flags, DContactGeomBuffer in_Contacts, int in_Stride,
-			DxGeom in_g1,  DxGeom in_g2, final int TriIndex,
-			DVector3C in_ContactPos, DVector3C in_Normal, final double in_Depth,
-			RefInt OutTriCount)
-	{
-		if (in_Stride != 1) throw new IllegalArgumentException("in_Stride = " + in_Stride);
-		/*
-			NOTE by Oleh_Derevenko:
-			This function is called after maximal number of contacts has already been 
-			collected because it has a side effect of replacing penetration depth of
-			existing contact with larger penetration depth of another matching normal contact.
-			If this logic is not necessary any more, you can bail out on reach of contact
-			number maximum immediately in dCollideBTL(). You will also need to correct 
-			conditional statements after invocations of GenerateContact() in _cldClipping().
-		 */
-		do 
-		{
-			DContactGeom Contact;
-			DVector3 diff = new DVector3();
-
-			//if (!(in_Flags & CONTACTS_UNIMPORTANT))
-			if (0==(in_Flags & CONTACTS_UNIMPORTANT))
-			{
-				boolean duplicate = false;
-				for (int i=0; i<OutTriCount.i; i++)
-				{
-					//Contact = SAFECONTACT(in_Flags, in_Contacts, i, in_Stride);
-					Contact = in_Contacts.getSafe(in_Flags, i);
-
-					// same position?
-					//					for (int j=0; j<3; j++)
-					//						diff[j] = in_ContactPos[j] - Contact.pos[j];
-					diff.eqDiff(in_ContactPos, Contact.pos);
-					if (diff.dot(diff) < dEpsilon)
-					{
-						// same normal?
-						if (1.0 - dFabs(in_Normal.dot(Contact.normal)) < dEpsilon)
-						{
-							if (in_Depth > Contact.depth)
-								Contact.depth = in_Depth;
-							duplicate = true;
-							/*
-								NOTE by Oleh_Derevenko:
-								There may be a case when two normals are close to each other but not duplicate
-								while third normal is detected to be duplicate for both of them.
-								This is the only reason I can think of, there is no "break" statement.
-								Perhaps author considered it to be logical that the third normal would 
-								replace the depth in both of initial contacts. 
-								However, I consider it a questionable practice which should not
-								be applied without deep understanding of underlaying physics.
-								Even more, is this situation with close normal triplet acceptable at all?
-								Should not be two initial contacts reduced to one (replaced with the latter)?
-								If you know the answers for these questions, you may want to change this code.
-								See the same statement in GenerateContact() of collision_trimesh_trimesh.cpp
-							 */
-						}
-					}
-				}
-				if (duplicate || OutTriCount.i == (in_Flags & DxGeom.NUMC_MASK))
-				{
-					break;
-				}
-			}
-			else
-			{
-				dIASSERT(OutTriCount.i < (in_Flags & DxGeom.NUMC_MASK));
-			}
-
-			// Add a new contact
-			//Contact = SAFECONTACT(in_Flags, in_Contacts, OutTriCount, in_Stride);
-			Contact = in_Contacts.getSafe(in_Flags, OutTriCount.i);
-
-			//			Contact.pos[0] = in_ContactPos[0];
-			//			Contact.pos[1] = in_ContactPos[1];
-			//			Contact.pos[2] = in_ContactPos[2];
-			//			Contact.pos[3] = 0.0;
-			Contact.pos.set( in_ContactPos );
-
-			//			Contact.normal[0] = in_Normal[0];
-			//			Contact.normal[1] = in_Normal[1];
-			//			Contact.normal[2] = in_Normal[2];
-			//			Contact.normal[3] = 0.0;
-			Contact.normal.set( in_Normal );
-
-			Contact.depth = in_Depth;
-
-			Contact.g1 = in_g1;
-			Contact.g2 = in_g2;
-
-			Contact.side1 = TriIndex;
-			Contact.side2 = -1;
-
-			OutTriCount.i++;
-		}
-		while (false);
-	}
-
-
-	//	#endif // dTRIMESH_ENABLED
-
-
-}
diff --git a/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshTrimesh.java b/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshTrimesh.java
index 2819f2ac..c91f1c80 100644
--- a/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshTrimesh.java
+++ b/core/src/main/java/org/ode4j/ode/internal/CollideTrimeshTrimesh.java
@@ -96,7 +96,7 @@ int dCollideTTL(DxGeom g1, DxGeom g2, int Flags, DContactGeomBuffer Contacts, in
 
 		trimeshContacts.GIM_DYNARRAY_DESTROY();
 
-		// TODO remove this, #22 has been resolved
+		// TODO CHECK-TZ remove this, #22 has been resolved
 		int contactcount = trimeshContacts.size();
 		int maxcontacts = Flags & NUMC_MASK;
 		if (contactcount > maxcontacts)
diff --git a/core/src/main/java/org/ode4j/ode/internal/CollisionLibccd.java b/core/src/main/java/org/ode4j/ode/internal/CollisionLibccd.java
index 15844f09..84af0c36 100644
--- a/core/src/main/java/org/ode4j/ode/internal/CollisionLibccd.java
+++ b/core/src/main/java/org/ode4j/ode/internal/CollisionLibccd.java
@@ -42,6 +42,8 @@
 import static org.ode4j.ode.internal.CommonEnums.*;
 import static org.ode4j.ode.internal.DxCollisionUtil.dQuatTransform;
 import static org.ode4j.ode.internal.libccd.CCD.*;
+import static org.ode4j.ode.internal.libccd.CCDCustomQuat.ccdQuatRotVec2;
+import static org.ode4j.ode.internal.libccd.CCDCustomVec3.*;
 import static org.ode4j.ode.internal.libccd.CCDMPR.*;
 import static org.ode4j.ode.internal.libccd.CCDQuat.*;
 import static org.ode4j.ode.internal.libccd.CCDVec3.*;
@@ -197,9 +199,8 @@ static void ccdGeomToCyl(final DxCylinder g, ccd_cyl_t cyl) {
         ccdQuatRotVec(cyl.axis, cyl.rot);
         ccdVec3Copy(cyl.p1, cyl.axis);
         ccdVec3Copy(cyl.p2, cyl.axis);
-        boolean cylAxisNormalizationResult = ccdVec3Normalize(cyl.axis);
-        dUVERIFY(!cylAxisNormalizationResult, "Invalid cylinder has been passed");
-        ccdVec3Normalize(cyl.axis);
+        int cylAxisNormalizationResult = ccdVec3SafeNormalize(cyl.axis);
+        dUVERIFY(cylAxisNormalizationResult == 0, "Invalid cylinder has been passed");
         ccdVec3Scale(cyl.p2, -1.0);
         ccdVec3Add(cyl.p1, cyl.pos);
         ccdVec3Add(cyl.p2, cyl.pos);
@@ -696,10 +697,9 @@ static boolean correctTriangleContactNormal(ccd_triangle_t t, DContactGeom conta
             // Triangle face normal
             ccd_vec3_t triNormal = new ccd_vec3_t();
             ccdVec3Cross(triNormal, edges[dMTV_FIRST], edges[dMTV_SECOND]);
-            //            if (ccdVec3Normalize(triNormal)) {
-            //                anyFault = true;
-            //            }
-            anyFault |= ccdVec3Normalize(triNormal);
+            if (ccdVec3SafeNormalize(triNormal) != 0) {
+                anyFault = true;
+            }
 
             // Check the edges to see if one of them is involved
             for (int testEdgeIndex = !anyFault ? dMTV__MIN : dMTV__MAX; testEdgeIndex != dMTV__MAX; ++testEdgeIndex) {
@@ -707,7 +707,7 @@ static boolean correctTriangleContactNormal(ccd_triangle_t t, DContactGeom conta
                 ccd_vec3_t edgeAxis = edges[testEdgeIndex];
 
                 // Edge axis
-                if (ccdVec3Normalize(edgeAxis)) {
+                if (ccdVec3SafeNormalize(edgeAxis) != 0) {
                     // This should not happen normally as in the case on of edges is degenerated
                     // the triangle normal calculation would have to fail above. If for some
                     // reason the above calculation succeeds and this one would not, it is
diff --git a/core/src/main/java/org/ode4j/ode/internal/Common.java b/core/src/main/java/org/ode4j/ode/internal/Common.java
index 991b7028..f8caae3a 100644
--- a/core/src/main/java/org/ode4j/ode/internal/Common.java
+++ b/core/src/main/java/org/ode4j/ode/internal/Common.java
@@ -24,9 +24,6 @@
  *************************************************************************/
 package org.ode4j.ode.internal;
 
-import java.io.PrintWriter;
-import java.io.StringWriter;
-
 import org.ode4j.math.DVector3;
 import org.ode4j.ode.DGeom.DNearCallback;
 import org.ode4j.ode.DWorld;
@@ -72,7 +69,7 @@ public class Common extends OdeConstants {
 			throw new RuntimeException("dDOUBLE == dSINGLE");
 		}
 		if (dDOUBLE) {
-			//TODO use MIN_VALUE instead? IEEE 754 ...
+			// dEpsilon = FLT_EPSILON or DBL_EPSILON
 			dEpsilon = Double.MIN_NORMAL;
 			MAX_FLOAT = Double.MAX_VALUE;
 		} else {
@@ -99,8 +96,7 @@ public class Common extends OdeConstants {
 	public static final int d_MEMORY_OUT_OF_MEMORY = 1;
 
 
-//From config-defaults.h
-	//TODO ???
+	//From config-defaults.h
 	/** @deprecated TZ this can be removed? */
 	@Deprecated
     public static final boolean  dATOMICS_ENABLED = false;
@@ -108,8 +104,6 @@ public class Common extends OdeConstants {
 
 	public static final boolean  dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER = false;
 
-	//TODO
-	//http://www.codeguru.com/forum/printthread.php?t=323835
 	//TODO use MACRO
 	//#define EPSILON 0.0001   // Define your own tolerance
 	//#define FLOAT_EQ(x,v) (((v - EPSILON) < x) && (x <( v + EPSILON)))
@@ -161,11 +155,7 @@ public static void dUASSERT(int  a, String msg) {
 	}
 
 	public static void dDEBUGMSG(String msg) {
-		StringWriter sw = new StringWriter();
-		new PrintWriter(sw);
-		new RuntimeException(msg).printStackTrace(new PrintWriter(sw));
-		String msg2 = sw.toString();
-		dMessage (d_ERR_UASSERT, msg2);
+		dMessage (d_ERR_UASSERT, msg);
 	}
 
 //	#ifdef __GNUC__
@@ -185,7 +175,6 @@ public static void dDEBUGMSG(String msg) {
 //			#endif
 
 	public static void dSASSERT(boolean  a) {
-		assert(a);
 		if (!a) {
 			dDebug (d_ERR_SASSERT, "Static assert failed");
 		}
@@ -302,7 +291,7 @@ public static void dAVERIFY(Object a) {
 	 * @return Padded offset
 	 */
 	public static int dPAD(int a) {
-		return (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a));
+		return (((a) > 1) ? (((a) + 3) & (~3)) : (a));
 	}
 	//#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a))
 
@@ -498,21 +487,21 @@ static class dDynamicsAxis {
 	//#elif defined(dDOUBLE)
 
 	//#define REAL(x) (x)
-	//#define dRecip(x) (1.0/(x)) //TODO replace
+	//#define dRecip(x) (1.0/(x))
 	public static double dRecip(double x) { return 1.0/x; }
-	//#define dSqrt(x) sqrt(x) //TODO replace
+	//#define dSqrt(x) sqrt(x)
 	public static double dSqrt(double x) { return Math.sqrt(x); }
 	//#define dRecipSqrt(x) (1.0/sqrt(x))
 	public static double dRecipSqrt(double x) { return 1.0/Math.sqrt(x); }
-	//#define dSin(x) sin(x)//TODO replace
+	//#define dSin(x) sin(x)
 	public static double dSin(double x) { return Math.sin(x); }
-	//#define dCos(x) cos(x) //TODO replace
+	//#define dCos(x) cos(x)
 	public static double dCos(double x) { return Math.cos(x); }
-	//#define dFabs(x) fabs(x) //TODO replace
+	//#define dFabs(x) fabs(x)
 	public static double dFabs(double x) {
 		return Math.abs(x);
 	}
-	//#define dAtan2(y,x) atan2((y),(x)) //TODO replace
+	//#define dAtan2(y,x) atan2((y),(x))
 	public static double dAtan2(double y, double x) {
 		return Math.atan2(y, x);
 	}
@@ -525,12 +514,12 @@ public static double dAcos(double x) {
 		return Math.acos(x);
 	}
 
-	//#define dFMod(a,b) (fmod((a),(b))) //TODO replace
+	//#define dFMod(a,b) (fmod((a),(b)))
 	public static double dFMod(double x) {
 		throw new UnsupportedOperationException();
 		//return Math.fmod(x);
 	}
-	//#define dFloor(x) floor(x) //TODO replace
+	//#define dFloor(x) floor(x)
 	public static double dFloor(double x) { return Math.floor(x); }
 
 	//#define dCeil(x) ceilf(x)          /* ceil */
@@ -680,23 +669,21 @@ enum {
 	public static int SIZE_MAX = Integer.MAX_VALUE;
 
 
-//#ifndef offsetof
-//#define offsetof(s, m) ((size_t)&(((s *)8)->m) - (size_t)8)
-//			#endif
-//#ifndef membersize
-//#define membersize(s, m) (sizeof(((s *)8)->m))
-//			#endif
-//#ifndef endoffsetof
-//#define endoffsetof(s, m)   ((size_t)((size_t)&(((s *)8)->m) - (size_t)8) + sizeof(((s *)8)->m))
-//			#endif
-
-//#define dMACRO_MAX(a, b) ((a) > (b) ? (a) : (b))
-//			#define dMACRO_MIN(a, b) ((a) < (b) ? (a) : (b))
-	public static int dMACRO_MIN(int a, int b) {
-		return Math.min(a, b);
-	}
-//
-//			#define dMAKE_PADDING_SIZE(DataType, ElementType) ((sizeof(DataType) + sizeof(ElementType) - 1) / sizeof(ElementType))
+	//#ifndef offsetof
+	//#define offsetof(s, m) ((size_t)&(((s *)8)->m) - (size_t)8)
+	//			#endif
+	//#ifndef membersize
+	//#define membersize(s, m) (sizeof(((s *)8)->m))
+	//			#endif
+	//#ifndef endoffsetof
+	//#define endoffsetof(s, m)   ((size_t)((size_t)&(((s *)8)->m) - (size_t)8) + sizeof(((s *)8)->m))
+	//			#endif
+
+	//#define dMACRO_MAX(a, b) ((a) > (b) ? (a) : (b))
+	//			#define dMACRO_MIN(a, b) ((a) < (b) ? (a) : (b))
+	//	public static int dMACRO_MIN(int a, int b) {
+	//		return Math.min(a, b);
+	//	}
 
 
 //	template<typename DstType, typename SrcType>
@@ -766,10 +753,10 @@ public static void dxSwap(boolean[] one, int oneP, boolean[] another, int anothe
 //		return value < lo ? (value_type)lo : value > hi ? (value_type)hi : value;
 //	}
 	static double dxClamp(double value, double lo, double hi) {
-		return value < lo ? lo : value > hi ? hi : value;
+		return value < lo ? lo : Math.min(value, hi);
 	}
 	static int dxClamp(int value, int lo, int hi) {
-		return value < lo ? lo : value > hi ? hi : value;
+		return value < lo ? lo : Math.min(value, hi);
 	}
 
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/DLCP.java b/core/src/main/java/org/ode4j/ode/internal/DLCP.java
index 8635bb81..0ce8fa53 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DLCP.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DLCP.java
@@ -29,7 +29,10 @@
 import static org.ode4j.ode.internal.Common.*;
 import static org.ode4j.ode.internal.ErrorHandler.dDebug;
 import static org.ode4j.ode.internal.ErrorHandler.dMessage;
-import static org.ode4j.ode.internal.FastLDLT.dxtFactorLDLT;
+import static org.ode4j.ode.internal.FastLDLTFactor.factorMatrixAsLDLT;
+import static org.ode4j.ode.internal.FastLDLTSolve.solveEquationSystemWithLDLT;
+import static org.ode4j.ode.internal.FastLSolve.solveL1Straight;
+import static org.ode4j.ode.internal.FastLTSolve.solveL1Transposed;
 import static org.ode4j.ode.internal.Matrix.*;
 import static org.ode4j.ode.internal.Misc.dClearUpperTriangle;
 import static org.ode4j.ode.internal.Misc.dMakeRandomMatrix;
@@ -205,7 +208,7 @@ public class DLCP {
 	//#define DEBUG_LCP
 
 	//#define dLCP_FAST		// use fast dLCP object
-	//private static final boolean dLCP_FAST = true;
+	private static final boolean dLCP_FAST = true;
 
 	//#define NUB_OPTIMIZATIONS
 	protected static final boolean NUB_OPTIMIZATIONS = true;
@@ -262,9 +265,196 @@ static void transfer_b_to_x(double[] pairsbxA, int pairsbxP, int n, boolean zero
 		}
 	}
 
+	/**
+	 * swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
+	 * A is nskip. this only references and swaps the lower triangle.
+	 * if `do_fast_row_swaps' is nonzero and row pointers are being used, then
+	 * rows will be swapped by exchanging row pointers. otherwise the data will
+	 * be copied.
+	 */
+	private static void swapRowsAndCols (double[] A, int n, int i1, int i2, int nskip,
+										 boolean do_fast_row_swaps)
+	{
+		//dAASSERT (A);
+		dAASSERT (n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
+				nskip >= n && i1 < i2);
+
+		if (ROWPTRS) {//# ifdef ROWPTRS
+//		    dReal *A_i1 = A[i1];
+//		    dReal *A_i2 = A[i2];
+//		    for (int i=i1+1; i<i2; ++i) {
+//		      dReal *A_i_i1 = A[i] + i1;
+//		      A_i1[i] = *A_i_i1;
+//		      *A_i_i1 = A_i2[i];
+//		    }
+//		    A_i1[i2] = A_i1[i1];
+//		    A_i1[i1] = A_i2[i1];
+//		    A_i2[i1] = A_i2[i2];
+//		    // swap rows, by swapping row pointers
+//		    if (do_fast_row_swaps) {
+//		      A[i1] = A_i2;
+//		      A[i2] = A_i1;
+//		    }
+//		    else {
+//		      // Only swap till i2 column to match A plain storage variant.
+//		      for (int k = 0; k <= i2; ++k) {
+//		        dReal tmp = A_i1[k];
+//		        A_i1[k] = A_i2[k];
+//		        A_i2[k] = tmp;
+//		      }
+//		    }
+//		    // swap columns the hard way
+//		    for (int j=i2+1; j<n; ++j) {
+//		      dReal *A_j = A[j];
+//		      dReal tmp = A_j[i1];
+//		      A_j[i1] = A_j[i2];
+//		      A_j[i2] = tmp;
+//		    }
+			throw new UnsupportedOperationException();
+		} else { // ROWPTRS # else
+			int A_i1p = i1*nskip;//dReal *A_i1 = A+i1*nskip;
+			int A_i2p = i2*nskip;//dReal *A_i2 = A+i2*nskip;
+			for (int k = 0; k < i1; ++k) {
+				dxSwap(A, A_i1p + k, A, A_i2p + k);
+			}
+
+			int A_ip = A_i1p + nskip;//dReal *A_i = A_i1 + nskip;
+			for (int i=i1+1; i<i2; A_ip+=nskip, ++i) {
+				dxSwap(A, A_i2p + i, A, A_ip + i1);
+			}
+
+			dxSwap(A, A_i1p + i1, A, A_i2p + i2);
+
+			int A_jp = A_i2p + nskip;//dReal *A_j = A_i2 + nskip;
+			for (int j=i2+1; j<n; A_jp+=nskip, ++j) {
+				dxSwap(A, A_jp + i1, A, A_jp + i2);
+			}
+		}// else ROWPTRS # endif
+	}
+
+
+	// swap two indexes in the n*n LCP problem. i1 must be <= i2.
+
+	//	static
+	//	void swapProblem (ATYPE A, dReal pairsbx[PBX__MAX], dReal *w, dReal pairslh[PLH__MAX],
+	//					  unsigned *p, bool *state, int *findex,
+	//					  unsigned n, unsigned i1, unsigned i2, unsigned nskip,
+	//					  int do_fast_row_swaps)
+	static
+	void swapProblem (double[] A, double[] pairsbxA, int pairsbxP, double[] w, double[] pairslhA, int pairslhP,
+					  int[] p, boolean[] state, int[] findex,
+					  int n, int i1, int i2, int nskip,
+					  boolean do_fast_row_swaps)
+	{
+		dIASSERT (n>0 && i1 < n && i2 < n && nskip >= n && i1 <= i2);
+
+		if (i1 != i2) {
+			swapRowsAndCols (A, n, i1, i2, nskip, do_fast_row_swaps);
+
+//			dxSwap((pairsbx + (size_t)i1 * PBX__MAX)[PBX_B], (pairsbx + (size_t)i2 * PBX__MAX)[PBX_B]);
+//			dxSwap((pairsbx + (size_t)i1 * PBX__MAX)[PBX_X], (pairsbx + (size_t)i2 * PBX__MAX)[PBX_X]);
+//			dSASSERT(PBX__MAX == 2);
+			dxSwap(pairsbxA, pairsbxP + i1 * PBX__MAX + PBX_B, pairsbxA, pairsbxP + i2 * PBX__MAX + PBX_B);
+			dxSwap(pairsbxA, pairsbxP + i1 * PBX__MAX + PBX_X, pairsbxA, pairsbxP + i2 * PBX__MAX + PBX_X);
+			dSASSERT(PBX__MAX == 2);
+
+			dxSwap(w, i1, w, i2);
+
+//			dxSwap((pairslh + (size_t)i1 * PLH__MAX)[PLH_LO], (pairslh + (size_t)i2 * PLH__MAX)[PLH_LO]);
+//			dxSwap((pairslh + (size_t)i1 * PLH__MAX)[PLH_HI], (pairslh + (size_t)i2 * PLH__MAX)[PLH_HI]);
+//			dSASSERT(PLH__MAX == 2);
+			dxSwap(pairslhA, pairslhP + i1 * PLH__MAX + PLH_LO, pairslhA, pairslhP + i2 * PLH__MAX + PLH_LO);
+			dxSwap(pairslhA, pairslhP + i1 * PLH__MAX + PLH_HI, pairslhA, pairslhP + i2 * PLH__MAX + PLH_HI);
+			dSASSERT(PLH__MAX == 2);
+
+			dxSwap(p, i1, p, i2);
+			dxSwap(state, i1, state, i2);
+
+			if (findex != null) {
+				dxSwap(findex, i1, findex, i2);
+			}
+		}
+	}
+
+
+	// for debugging - check that L,d is the factorization of A[C,C].
+	// A[C,C] has size nC*nC and leading dimension nskip.
+	// L has size nC*nC and leading dimension nskip.
+	// d has size nC.
+
+	//#ifdef DEBUG_LCP -> TZ see first 'return'
+
+	//static void checkFactorization (ATYPE A, dReal *_L, dReal *_d,
+	//		int nC, int *C, int nskip)
+	protected void checkFactorization (double[] A, double[]_L, double[]_d,
+									   int nC, int[] C, int nskip)
+	{
+		if (!DEBUG_LCP) return;
+		int i,j;
+		if (nC==0) return;
+
+		// get A1=A, copy the lower triangle to the upper triangle, get A2=A[C,C]
+		DMatrixN A1 = new DMatrixN(nC,nC);
+		for (i=0; i<nC; i++) {
+			for (j=0; j<=i; j++) { //A1(i,j) = A1(j,i) = AROW(i)[j];
+				A1.set(i, j, AROW(i,j));
+				A1.set(j, i, AROW(i,j));
+			}
+		}
+		DMatrixN A2 = A1.newSubMatrix (nC,C,nC,C);
+
+		// printf ("A1=\n"); A1.print(); printf ("\n");
+		// printf ("A2=\n"); A2.print(); printf ("\n");
+
+		// compute A3 = L*D*L'
+		DMatrixN L = new DMatrixN(nC, nC);
+		L.set(_L, nskip, 1);//new dMatrixN(nC,nC,_L,nskip,1);
+		DMatrixN D = new DMatrixN(nC,nC);
+		for (i=0; i<nC; i++) D.set(i, i, 1.0/_d[i]);//D(i,i) = 1/_d[i];
+		L.clearUpperTriangle();
+		for (i=0; i<nC; i++) L.set(i, i, 1);//L(i,i) = 1;
+		//TODO is this correct? dMatrixN A3 = L * D * L.transpose();
+		DMatrixN A3 = L.mulNew( D.mulNew( L.reTranspose() ));
+//		dMatrixN A3 = L.mulNew(D).mulNew( L.transposeNew() );
+
+
+		// compare A2 and A3
+		double diff = A2.maxDifference (A3);
+		if (diff > 1e-8)
+			dDebug (0,"L*D*L' check, maximum difference = %.6e\n",diff);
+	}
+
+	//#endif
+
+
+	// for debugging
+
+	//#ifdef DEBUG_LCP -> TZ see first 'return'
+
+	//static void checkPermutations (int i, int n, int nC, int nN, int *p, int *C)
+	protected static void checkPermutations (int i, int n, int nC, int nN,
+											 int[] p, int[] C)
+	{
+		if (!DEBUG_LCP) return;
+		int j,k;
+		dIASSERT(/*nC>=0 && nN>=0 &&*/ (nC + nN) == i && i < n);
+		for (k=0; k<i; k++) dIASSERT (p[k] >= 0 && p[k] < i);
+		for (k=i; k<n; k++) dIASSERT (p[k] == k);
+		for (j=0; j<nC; j++) {
+			int C_is_bad = 1;
+			for (k=0; k<nC; k++) if (C[k]==j) C_is_bad = 0;
+			dIASSERT (C_is_bad==0);
+		}
+	}
+	//#endif // DEBUG_LCP
+
+
+
+
 	//abstract methods by TZ
 //	protected abstract double AROW(int i, int j);
 //	abstract int getNub();
+//	abstract int getNub();
 //	abstract double Aii (int i);
 //	abstract double AiC_times_qC (int i, double[] q);
 //	abstract double AiN_times_qN (int i, double[] q);
@@ -298,32 +488,30 @@ static void transfer_b_to_x(double[] pairsbxA, int pairsbxP, int n, boolean zero
 	//
 	// the index set C is special: solutions to A(C,C)\A(C,i) can be generated.
 
+	//***************************************************************************
+	// fast implementation of dLCP. see the above definition of dLCP for
+	// interface comments.
+	//
+	// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
+	// permuted as the other vectors/matrices are permuted.
+	//
+	// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
+	// contiguous indexes. the don't-care indexes follow N.
+	//
+	// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
+	// added or removed from the set C the factorization is updated.
+	// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
+	// the leading dimension of the matrix L is always `nskip'.
+	//
+	// at the start there may be other indexes that are unbounded but are not
+	// included in `nub'. dLCP will permute the matrix so that absolutely all
+	// unbounded vectors are at the start. thus there may be some initial
+	// permutation.
+	//
+	// the algorithms here assume certain patterns, particularly with respect to
+	// index transfer.
 
-
-//***************************************************************************
-// fast implementation of dLCP. see the above definition of dLCP for
-// interface comments.
-//
-// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
-// permuted as the other vectors/matrices are permuted.
-//
-// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
-// contiguous indexes. the don't-care indexes follow N.
-//
-// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
-// added or removed from the set C the factorization is updated.
-// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
-// the leading dimension of the matrix L is always `nskip'.
-//
-// at the start there may be other indexes that are unbounded but are not
-// included in `nub'. dLCP will permute the matrix so that absolutely all
-// unbounded vectors are at the start. thus there may be some initial
-// permutation.
-//
-// the algorithms here assume certain patterns, particularly with respect to
-// index transfer.
-
-//#ifdef dLCP_FAST
+	//#ifdef dLCP_FAST
 
     private final int m_n;
     private final int m_nskip;
@@ -373,8 +561,12 @@ static int estimate_transfer_i_from_C_to_N_mem_req(int nC, int nskip) {
 	private int indexC (int i) { return i; }
 	private int indexN (int i) { return i+m_nC; }
 	private double Aii (int i) { return AROW(i,i); }
-	private double AiC_times_qC (int i, double[] qA, int qP, int q_stride) { return dxtDot (m_A, AROWp(i), qA, qP, m_nC, q_stride); }
-	private double AiN_times_qN (int i, double[] qA, int qP, int q_stride) { return dxtDot (m_A,AROWp(i) + m_nC, qA, qP + m_nC * q_stride, m_nN, q_stride); }
+	private double AiC_times_qC (int i, double[] qA, int qP, int q_stride) {
+		return calculateLargeVectorDot (m_A, AROWp(i), qA, qP, m_nC, q_stride);
+	}
+	private double AiN_times_qN (int i, double[] qA, int qP, int q_stride) {
+		return calculateLargeVectorDot (m_A,AROWp(i) + m_nC, qA, qP + m_nC * q_stride, m_nN, q_stride);
+	}
 	//  void pN_equals_ANC_times_qC (dReal *p, dReal *q);
 	//  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
 //	private void pC_plusequals_s_times_qC (double[] p, double s, double[] q)
@@ -419,7 +611,6 @@ static int estimate_transfer_i_from_C_to_N_mem_req(int nC, int nskip) {
 	    m_p = _p;
 	    m_C = _C;
 
-	    // TODO TZ-CHECK remove this comment: Matrix.dSetZero (m_x, m_n);
         //dxtSetZero<PBX__MAX>(m_pairsbx + PBX_X, m_n);
         dxtSetZero(m_pairsbxA, 0 + PBX_X, m_n, PBX__MAX);
 
@@ -493,8 +684,8 @@ static int estimate_transfer_i_from_C_to_N_mem_req(int nC, int nskip) {
 		        }
 		    }
             transfer_b_to_x(m_pairsbxA, 0, nub, false);
-            dxtFactorLDLT(m_L, m_d, nub, m_nskip, 1);
-            dxtSolveLDLT(m_L, m_d, 0, m_pairsbxA, 0 + PBX_X, nub, m_nskip, 1, PBX__MAX);
+			factorMatrixAsLDLT(m_L, m_d, nub, m_nskip, 1);
+			solveEquationSystemWithLDLT(m_L, m_d, 0, m_pairsbxA, 0 + PBX_X, nub, m_nskip, 1, PBX__MAX);
             dSetZero (m_w,nub);
 		    {
 		        int[] C = m_C;
@@ -585,7 +776,7 @@ void transfer_i_from_N_to_C (int i)
 	                    for (int j=0; j<nC; ++j) Dell[j] = m_A[aPos+C[j]];//aptr[C[j]];
 	                }//#   endif
 	            }
-				Matrix.dSolveL1(m_L, m_Dell, nC, m_nskip);
+				solveL1Straight(m_L, m_Dell, 0, nC, m_nskip, 1);
 
 				double ell_Dell_dot = 0.0;
 				final double[] LtgtA = m_L;
@@ -749,7 +940,7 @@ void solve1 (double[] a, int i, boolean dir_positive, boolean only_transfer)
         		for (int j=0; j<nC; j++) Dell[j] = m_A[aPos+C[j]];//aptr[C[j]];
 			}//#   endif
 		}
-		Matrix.dxSolveL1(m_L, m_Dell, nC, m_nskip);
+		solveL1Straight(m_L, m_Dell, 0, nC,  m_nskip, 1);
 		{
 		    double[] ell = m_ell, Dell = m_Dell, d = m_d;
 		    for (int j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
@@ -760,7 +951,7 @@ void solve1 (double[] a, int i, boolean dir_positive, boolean only_transfer)
 		    {
 		        for (int j=0; j<nC; ++j) tmp[j] = ell[j];
 		    }
-		    Matrix.dxSolveL1T (m_L,tmp,m_nC,m_nskip);
+			solveL1Transposed(m_L,tmp,0, nC,m_nskip, 1);
 		    if (dir_positive) {
 		        int[] C = m_C;
 		        //double[] tmp = m_tmp;
@@ -849,8 +1040,8 @@ void dxSolveLCP_AllUnbounded (DxWorldProcessMemArena memarena, int n, double[] A
 
 		int nskip = dPAD(n);
 		dAASSERT(pairsbxP + PBX_B == 0); // TZ: If this is != 0 then we need to adapt the following method call:
-		dxtFactorLDLT (A, pairsbxA, /* pairsbxP + PBX_B,*/ n, nskip, PBX__MAX);
-		dxtSolveLDLT (A, pairsbxA, pairsbxP + PBX_B, pairsbxA, pairsbxP + PBX_X, n, nskip, PBX__MAX, PBX__MAX);
+		factorMatrixAsLDLT (A, pairsbxA, /* pairsbxP + PBX_B,*/ n, nskip, PBX__MAX);
+		solveEquationSystemWithLDLT (A, pairsbxA, pairsbxP + PBX_B, pairsbxA, pairsbxP + PBX_X, n, nskip, PBX__MAX, PBX__MAX);
 	}
 
 	//***************************************************************************
@@ -1371,190 +1562,5 @@ else if (xi >= lo[i] && xi <= hi[i] && wi == 0) {
         return 1;
     }
 
-
-    /**
-	 * swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
-	 * A is nskip. this only references and swaps the lower triangle.
-	 * if `do_fast_row_swaps' is nonzero and row pointers are being used, then
-	 * rows will be swapped by exchanging row pointers. otherwise the data will
-	 * be copied.
-	 */
-	private static void swapRowsAndCols (double[] A, int n, int i1, int i2, int nskip,
-			boolean do_fast_row_swaps)
-	{
-		//dAASSERT (A);
-		dAASSERT (n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
-				nskip >= n && i1 < i2);
-
-		if (ROWPTRS) {//# ifdef ROWPTRS
-//		    dReal *A_i1 = A[i1];
-//		    dReal *A_i2 = A[i2];
-//		    for (int i=i1+1; i<i2; ++i) {
-//		      dReal *A_i_i1 = A[i] + i1;
-//		      A_i1[i] = *A_i_i1;
-//		      *A_i_i1 = A_i2[i];
-//		    }
-//		    A_i1[i2] = A_i1[i1];
-//		    A_i1[i1] = A_i2[i1];
-//		    A_i2[i1] = A_i2[i2];
-//		    // swap rows, by swapping row pointers
-//		    if (do_fast_row_swaps) {
-//		      A[i1] = A_i2;
-//		      A[i2] = A_i1;
-//		    }
-//		    else {
-//		      // Only swap till i2 column to match A plain storage variant.
-//		      for (int k = 0; k <= i2; ++k) {
-//		        dReal tmp = A_i1[k];
-//		        A_i1[k] = A_i2[k];
-//		        A_i2[k] = tmp;
-//		      }
-//		    }
-//		    // swap columns the hard way
-//		    for (int j=i2+1; j<n; ++j) {
-//		      dReal *A_j = A[j];
-//		      dReal tmp = A_j[i1];
-//		      A_j[i1] = A_j[i2];
-//		      A_j[i2] = tmp;
-//		    }
-			throw new UnsupportedOperationException();
-		} else { // ROWPTRS # else
-		    int A_i1p = i1*nskip;//dReal *A_i1 = A+i1*nskip;
-		    int A_i2p = i2*nskip;//dReal *A_i2 = A+i2*nskip;
-		    for (int k = 0; k < i1; ++k) {
-				dxSwap(A, A_i1p + k, A, A_i2p + k);
-		    }
-
-		    int A_ip = A_i1p + nskip;//dReal *A_i = A_i1 + nskip;
-		    for (int i=i1+1; i<i2; A_ip+=nskip, ++i) {
-				dxSwap(A, A_i2p + i, A, A_ip + i1);
-		    }
-
-			dxSwap(A, A_i1p + i1, A, A_i2p + i2);
-
-		    int A_jp = A_i2p + nskip;//dReal *A_j = A_i2 + nskip;
-		    for (int j=i2+1; j<n; A_jp+=nskip, ++j) {
-				dxSwap(A, A_jp + i1, A, A_jp + i2);
-		    }
-		}// else ROWPTRS # endif
-	}
-
-
-	// swap two indexes in the n*n LCP problem. i1 must be <= i2.
-
-	//	static
-	//	void swapProblem (ATYPE A, dReal pairsbx[PBX__MAX], dReal *w, dReal pairslh[PLH__MAX],
-	//					  unsigned *p, bool *state, int *findex,
-	//					  unsigned n, unsigned i1, unsigned i2, unsigned nskip,
-	//					  int do_fast_row_swaps)
-	static
-	void swapProblem (double[] A, double[] pairsbxA, int pairsbxP, double[] w, double[] pairslhA, int pairslhP,
-					  int[] p, boolean[] state, int[] findex,
-					  int n, int i1, int i2, int nskip,
-					  boolean do_fast_row_swaps)
-	{
-		dIASSERT (n>0 && i1 < n && i2 < n && nskip >= n && i1 <= i2);
-
-		if (i1 != i2) {
-			swapRowsAndCols (A, n, i1, i2, nskip, do_fast_row_swaps);
-
-//			dxSwap((pairsbx + (size_t)i1 * PBX__MAX)[PBX_B], (pairsbx + (size_t)i2 * PBX__MAX)[PBX_B]);
-//			dxSwap((pairsbx + (size_t)i1 * PBX__MAX)[PBX_X], (pairsbx + (size_t)i2 * PBX__MAX)[PBX_X]);
-//			dSASSERT(PBX__MAX == 2);
-			dxSwap(pairsbxA, pairsbxP + i1 * PBX__MAX + PBX_B, pairsbxA, pairsbxP + i2 * PBX__MAX + PBX_B);
-			dxSwap(pairsbxA, pairsbxP + i1 * PBX__MAX + PBX_X, pairsbxA, pairsbxP + i2 * PBX__MAX + PBX_X);
-			dSASSERT(PBX__MAX == 2);
-
-			dxSwap(w, i1, w, i2);
-
-//			dxSwap((pairslh + (size_t)i1 * PLH__MAX)[PLH_LO], (pairslh + (size_t)i2 * PLH__MAX)[PLH_LO]);
-//			dxSwap((pairslh + (size_t)i1 * PLH__MAX)[PLH_HI], (pairslh + (size_t)i2 * PLH__MAX)[PLH_HI]);
-//			dSASSERT(PLH__MAX == 2);
-			dxSwap(pairslhA, pairslhP + i1 * PLH__MAX + PLH_LO, pairslhA, pairslhP + i2 * PLH__MAX + PLH_LO);
-			dxSwap(pairslhA, pairslhP + i1 * PLH__MAX + PLH_HI, pairslhA, pairslhP + i2 * PLH__MAX + PLH_HI);
-			dSASSERT(PLH__MAX == 2);
-
-			dxSwap(p, i1, p, i2);
-			dxSwap(state, i1, state, i2);
-
-			if (findex != null) {
-				dxSwap(findex, i1, findex, i2);
-			}
-		}
-	}
-
-
-	// for debugging - check that L,d is the factorization of A[C,C].
-	// A[C,C] has size nC*nC and leading dimension nskip.
-	// L has size nC*nC and leading dimension nskip.
-	// d has size nC.
-
-	//#ifdef DEBUG_LCP -> TZ see first 'return'
-
-	//static void checkFactorization (ATYPE A, dReal *_L, dReal *_d,
-	//		int nC, int *C, int nskip)
-	protected void checkFactorization (double[] A, double[]_L, double[]_d,
-			int nC, int[] C, int nskip)
-	{
-		if (!DEBUG_LCP) return;
-		int i,j;
-		if (nC==0) return;
-
-		// get A1=A, copy the lower triangle to the upper triangle, get A2=A[C,C]
-		DMatrixN A1 = new DMatrixN(nC,nC);
-		for (i=0; i<nC; i++) {
-			for (j=0; j<=i; j++) { //A1(i,j) = A1(j,i) = AROW(i)[j];
-				A1.set(i, j, AROW(i,j));
-				A1.set(j, i, AROW(i,j));
-			}
-		}
-		DMatrixN A2 = A1.newSubMatrix (nC,C,nC,C);
-
-		// printf ("A1=\n"); A1.print(); printf ("\n");
-		// printf ("A2=\n"); A2.print(); printf ("\n");
-
-		// compute A3 = L*D*L'
-		DMatrixN L = new DMatrixN(nC, nC);
-		L.set(_L, nskip, 1);//new dMatrixN(nC,nC,_L,nskip,1);
-		DMatrixN D = new DMatrixN(nC,nC);
-		for (i=0; i<nC; i++) D.set(i, i, 1.0/_d[i]);//D(i,i) = 1/_d[i];
-		L.clearUpperTriangle();
-		for (i=0; i<nC; i++) L.set(i, i, 1);//L(i,i) = 1;
-		//TODO is this correct? dMatrixN A3 = L * D * L.transpose();
-		DMatrixN A3 = L.mulNew( D.mulNew( L.reTranspose() ));
-//		dMatrixN A3 = L.mulNew(D).mulNew( L.transposeNew() );
-
-
-		// compare A2 and A3
-		double diff = A2.maxDifference (A3);
-		if (diff > 1e-8)
-			dDebug (0,"L*D*L' check, maximum difference = %.6e\n",diff);
-	}
-
-	//#endif
-
-
-	// for debugging
-
-	//#ifdef DEBUG_LCP -> TZ see first 'return'
-
-	//static void checkPermutations (int i, int n, int nC, int nN, int *p, int *C)
-	protected static void checkPermutations (int i, int n, int nC, int nN,
-			int[] p, int[] C)
-	{
-		if (!DEBUG_LCP) return;
-		int j,k;
-		dIASSERT(/*nC>=0 && nN>=0 &&*/ (nC + nN) == i && i < n);
-		for (k=0; k<i; k++) dIASSERT (p[k] >= 0 && p[k] < i);
-		for (k=i; k<n; k++) dIASSERT (p[k] == k);
-		for (j=0; j<nC; j++) {
-			int C_is_bad = 1;
-			for (k=0; k<nC; k++) if (C[k]==j) C_is_bad = 0;
-			dIASSERT (C_is_bad==0);
-		}
-	}
 	//#endif // dLCP_FAST
-
-
-
 }
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxBox.java b/core/src/main/java/org/ode4j/ode/internal/DxBox.java
index cf468ffc..2e2a9c7c 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxBox.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxBox.java
@@ -158,7 +158,7 @@ public double dGeomBoxPointDepth (double x, double y, double z)
 		// if the point is inside all six sides
 
 		double[] dist = new double[6];
-		// TODO TZ remove comment after 16.3: ported from latest ODE (2023-04-05)
+		// TODO CHECK TZ remove comment after 16.3: ported from latest ODE (2023-04-05)
 
 		boolean outside = false;
 		double lastOuterOffset = 0;
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxConvex.java b/core/src/main/java/org/ode4j/ode/internal/DxConvex.java
index 7831cf4c..914b753d 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxConvex.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxConvex.java
@@ -26,12 +26,9 @@
 
 import static org.ode4j.ode.OdeConstants.CONTACTS_UNIMPORTANT;
 import static org.ode4j.ode.OdeConstants.dInfinity;
-import static org.ode4j.ode.OdeMath.dCalcVectorCross3;
-import static org.ode4j.ode.OdeMath.dCalcVectorDot3;
-import static org.ode4j.ode.OdeMath.dMultiply0_331;
-import static org.ode4j.ode.OdeMath.dMultiply1_331;
-import static org.ode4j.ode.OdeMath.dNormalize3;
+import static org.ode4j.ode.OdeMath.*;
 import static org.ode4j.ode.internal.Common.*;
+import static org.ode4j.ode.internal.DxCollisionUtil.dVector3Copy;
 import static org.ode4j.ode.internal.cpp4j.Cmath.fabs;
 import static org.ode4j.ode.internal.cpp4j.Cstdio.fprintf;
 import static org.ode4j.ode.internal.cpp4j.Cstdio.stdout;
@@ -437,7 +434,8 @@ void dGeomSetConvex (double[] planes, int planecount,
 	 * Returns Whether or not the segment ab intersects plane p.
 	 * @param a origin of the segment
 	 * @param b segment destination
-	 * @param p plane to test for intersection
+	 * @param pV plane to test for intersection - vector
+	 * @param pD plane to test for intersection - depth
 	 * @param t returns the time "t" in the segment ray that gives us the intersecting
 	 * point
 	 * @param q returns the intersection point
@@ -477,16 +475,16 @@ private static boolean IntersectSegmentPlane(DVector3 a,
 		return false;
 	}
 
-	/** 
-	 * Returns the Closest Point in Ray 1 to Ray 2.
-	 * @param Origin1 The origin of Ray 1
-	 * @param Direction1 The direction of Ray 1
-	 * @param Origin1 The origin of Ray 2
-	 * @param Direction1 The direction of Ray 3
-	 * @param t the time "t" in Ray 1 that gives us the closest point
-	 * (closest_point=Origin1+(Direction1*t).
-	 * @return true if there is a closest point, false if the rays are paralell.
-	 */
+	//	/**
+	//	 * Returns the Closest Point in Ray 1 to Ray 2.
+	//	 * @param Origin1 The origin of Ray 1
+	//	 * @param Direction1 The direction of Ray 1
+	//	 * @param Origin1 The origin of Ray 2
+	//	 * @param Direction1 The direction of Ray 3
+	//	 * @param t the time "t" in Ray 1 that gives us the closest point
+	//	 * (closest_point=Origin1+(Direction1*t).
+	//	 * @return true if there is a closest point, false if the rays are paralell.
+	//	 */
 	//inline bool ClosestPointInRay(final dVector3 Origin1,
 	//	      final dVector3 Direction1,
 	//	      final dVector3 Origin2,
@@ -1465,10 +1463,7 @@ private static int TestConvexIntersection(DxConvex cvx1,DxConvex cvx2, int flags
 		ccso.min_depth=dInfinity; // Min not min at all
 		ccso.depth_type=0; // no type
 		// precompute distance vector
-//		ccso.dist[0] = cvx2.final_posr.pos[0]-cvx1.final_posr.pos[0];
-//		ccso.dist[1] = cvx2.final_posr.pos[1]-cvx1.final_posr.pos[1];
-//		ccso.dist[2] = cvx2.final_posr.pos[2]-cvx1.final_posr.pos[2];
-		ccso.dist.eqDiff(cvx2.final_posr().pos(), cvx1.final_posr().pos());
+		dSubtractVectors3(ccso.dist, cvx2.final_posr().pos(), cvx1.final_posr().pos());
 		int maxc = flags & NUMC_MASK;
 		dIASSERT(maxc != 0);
 		DVector3 i1 = new DVector3(),i2 = new DVector3(),
@@ -1514,10 +1509,7 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 			//CollisionUtil.dVector3Copy(ccso.dist,dist);
 			dist = new DVector3(ccso.dist);
 			reference_side = GetSupportSide(dist,cvx1);
-//			dist[0]=-dist[0];
-//			dist[1]=-dist[1];
-//			dist[2]=-dist[2];
-			dist.scale(-1);
+			dNegateVector3(dist);
 			incident_side = GetSupportSide(dist,cvx2);
 
 			pReferencePolyPos = 0;//cvx1.polygons;
@@ -1591,22 +1583,28 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 					d2 = r2.dot(planeV) - planeD;
 					if(d1*d2<0)
 					{
+						out = false;
+
 						// Edge intersects plane
-						IntersectSegmentPlane(r1,r2,planeV, planeD,t,p);
-						// Check the resulting point again to make sure it is inside the reference convex
-						out=false;
-						for(int k=0;k<cvx1.planecount;++k)
+						if (!IntersectSegmentPlane(r1,r2,planeV, planeD,t,p))
 						{
-//							d = p[0]*cvx1.planes[(k*4)+0]+
-//							p[1]*cvx1.planes[(k*4)+1]+
-//							p[2]*cvx1.planes[(k*4)+2]-
-//							cvx1.planes[(k*4)+3];
-							d = p.dot(cvx1.planesV[k]) - cvx1.planesD[k];
-							if(d>0)
-							{
-								out = true;
-								break;
-							};
+							out = true;
+						}
+
+						if (!out) {
+							out = false;
+							for (int k = 0; k < cvx1.planecount; ++k) {
+								//							d = p[0]*cvx1.planes[(k*4)+0]+
+								//							p[1]*cvx1.planes[(k*4)+1]+
+								//							p[2]*cvx1.planes[(k*4)+2]-
+								//							cvx1.planes[(k*4)+3];
+								d = p.dot(cvx1.planesV[k]) - cvx1.planesD[k];
+								if (d > 0) {
+									out = true;
+									break;
+								}
+								;
+							}
 						}
 						if(!out)
 						{
@@ -1632,17 +1630,13 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 							d = p.dot(rplaneV) - rplaneD;
 							if(d>0)
 							{
-								//dVector3Copy(p,SAFECONTACT(flags, contact, contacts, skip).pos);
-								//dVector3Copy(rplane,SAFECONTACT(flags, contact, contacts, skip).normal);
-								//SAFECONTACT(flags, contact, contacts, skip).g1=cvx1;//&cvx1;
-								//SAFECONTACT(flags, contact, contacts, skip).g2=cvx2;//&cvx2;
-								//SAFECONTACT(flags, contact, contacts, skip).depth=d;
-								DContactGeom contact = contactBuf.getSafe(flags, contacts);
-								contact.pos.set(p);
-								contact.normal.set(rplaneV);
-								contact.g1 = cvx1;
-								contact.g2 = cvx2;
-								contact.depth = d;
+								// SAFECONTACT(flags, contact, contacts, skip);
+								DContactGeom target = contactBuf.getSafe(flags, contacts);
+								dVector3Copy(p, target.pos);
+								dVector3Copy(rplaneV, target.normal);
+								target.g1 = cvx1;
+								target.g2 = cvx2;
+								target.depth = d;
 								++contacts;
 								if (contacts==maxc) return contacts;
 							}
@@ -1661,17 +1655,13 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 				d = i1.dot(rplaneV) - rplaneD;
 				if(d>0)
 				{
-					DContactGeom contact = contactBuf.getSafe(flags, contacts);
-					//dVector3Copy(i1,SAFECONTACT(flags, contact, contacts, skip).pos);
-					//dVector3Copy(rplane,SAFECONTACT(flags, contact, contacts, skip).normal);
-					//SAFECONTACT(flags, contact, contacts, skip).g1=cvx1;//&cvx1;
-					//SAFECONTACT(flags, contact, contacts, skip).g2=cvx2;//&cvx2;
-					//SAFECONTACT(flags, contact, contacts, skip).depth=d;
-					contact.pos.set(i1);
-					contact.normal.set(rplaneV);
-					contact.g1 = cvx1;
-					contact.g2 = cvx2;
-					contact.depth = d;
+					// dContactGeom *target = SAFECONTACT(flags, contact, contacts, skip);
+					DContactGeom target = contactBuf.getSafe(flags, contacts);
+					dVector3Copy(i1, target.pos);
+					dVector3Copy(rplaneV, target.normal);
+					target.g1 = cvx1;
+					target.g2 = cvx2;
+					target.depth = d;
 					++contacts;
 					if (contacts==maxc) return contacts;
 				}
@@ -1739,10 +1729,9 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 					outside = false;
 					for(int j=0;j<contacts;++j)
 					{
-//						if((SAFECONTACT(flags, contact, j, skip).pos[0]==i1[0])&&
-//								(SAFECONTACT(flags, contact, j, skip).pos[1]==i1[1])&&
-//								(SAFECONTACT(flags, contact, j, skip).pos[2]==i1[2]))
-						if (contactBuf.getSafe(flags, j).pos.isEq(i1))
+						// dContactGeom *cur_contact = SAFECONTACT(flags, contact, j, skip);
+						DContactGeom cur_contact = contactBuf.getSafe(flags, j);
+						if (cur_contact.pos.isEq(i1))
 						{
 							outside=true;
 						}
@@ -1756,17 +1745,13 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 						d = i1.dot(rplaneV) - rplaneD;
 						if(d>0)
 						{
-							//dVector3Copy(i1,SAFECONTACT(flags, contact, contacts, skip).pos);
-							//dVector3Copy(rplane,SAFECONTACT(flags, contact, contacts, skip).normal);
-							//SAFECONTACT(flags, contact, contacts, skip).g1=cvx1;//&cvx1;
-							//SAFECONTACT(flags, contact, contacts, skip).g2=cvx2;//&cvx2;
-							//SAFECONTACT(flags, contact, contacts, skip).depth=d;
-							DContactGeom contact = contactBuf.getSafe(flags, contacts);
-							contact.pos.set(i1);
-							contact.normal.set(rplaneV);
-							contact.g1 = cvx1;
-							contact.g2 = cvx2;
-							contact.depth = d;
+							// dContactGeom *target = SAFECONTACT(flags, contact, contacts, skip);
+							DContactGeom target = contactBuf.getSafe(flags, contacts);
+							dVector3Copy(i1, target.pos);
+							dVector3Copy(rplaneV, target.normal);
+							target.g1 = cvx1;
+							target.g2 = cvx2;
+							target.depth = d;
 							++contacts;
 							if (contacts==maxc) return contacts;
 						}
@@ -1774,51 +1759,38 @@ else if(!CheckSATConvexEdges(cvx1,cvx2,ccso))
 				}
 			}
 		}
-		else if(ccso.depth_type==2) // edge-edge
+		else if (ccso.depth_type == 2) // edge-edge
 		{
-//			// Some parts borrowed from dBoxBox
-//			DVector3 ua = new DVector3(),ub = new DVector3(),pa = new DVector3(),pb = new DVector3();
-//			RefDouble alpha=new RefDouble(),beta=new RefDouble();
-//			// Get direction of first edge
-//			//for (i=0; i<3; i++) ua[i] = ccso.e1b[i]-ccso.e1a[i];
-//			ua.eqDiff(ccso.e1b, ccso.e1a);
-//			dNormalize3(ua); // normalization shouldn't be necesary but dLineClosestApproach requires it
-//			// Get direction of second edge
-//			//for (i=0; i<3; i++) ub[i] = ccso.e2b[i]-ccso.e2a[i];
-//			ub.eqDiff(ccso.e2b, ccso.e2a);
-//			dNormalize3(ub); // same as with ua normalization
-//			// Get closest points between edges (one at each)
-//			DxCollisionUtil.dLineClosestApproach (ccso.e1a,ua,ccso.e2a,ub,alpha,beta);
-//			//for (i=0; i<3; i++) pa[i] = ccso.e1a[i]+(ua[i]*alpha.get());
-//			pa.eqSum(ccso.e1a, ua, alpha.get());
-//			//for (i=0; i<3; i++) pb[i] = ccso.e2a[i]+(ub[i]*beta.get());
-//			pb.eqSum(ccso.e2a, ub, beta.get());
-//			// Set the contact point as halfway between the 2 closest points
-////			for (i=0; i<3; i++) SAFECONTACT(flags, contact, contacts, skip).pos[i] = REAL(0.5)*(pa[i]+pb[i]);
-////			SAFECONTACT(flags, contact, contacts, skip).g1=cvx1;//&cvx1;
-////			SAFECONTACT(flags, contact, contacts, skip).g2=cvx2;//&cvx2;
-////			dVector3Copy(ccso.plane,SAFECONTACT(flags, contact, contacts, skip).normal);
-////			SAFECONTACT(flags, contact, contacts, skip).depth=ccso.min_depth;
-//			DContactGeom contact = contactBuf.getSafe(flags, contacts);
-//			contact.pos.eqSum(pa, 0.5, pb, 0.5);
-//			contact.g1 = cvx1;
-//			contact.g2 = cvx2;
-//			//TODO TZ optimize with dVector3!
-//			contact.normal.set(ccso.plane.get0(), ccso.plane.get1(), ccso.plane.get2());
-//			contact.depth = ccso.min_depth;
-//			++contacts;
-
 		    DVector3 c1 = new DVector3(), c2 = new DVector3();
-			DContactGeom contact = contactBuf.getSafe(flags, contacts);
-		    //SAFECONTACT(flags, contact, contacts, skip)->depth = 
-			contact.depth = dSqrt(ClosestPointBetweenSegments(ccso.e1a,ccso.e1b,ccso.e2a,ccso.e2b,c1,c2));
-		    contact.g1=cvx1;
-		    contact.g2=cvx2;
-		    //dVector3Copy(c1,SAFECONTACT(flags, contact, contacts, skip)->pos);
-		    contact.pos.set( c1 );
-		    contact.normal.eqDiff(c2, c1);
-		    contact.normal.normalize();
-		    //dNormalize3(SAFECONTACT(flags, contact, contacts, skip)->normal);
+			ClosestPointBetweenSegments(ccso.e1a, ccso.e1b, ccso.e2a, ccso.e2b, c1, c2);
+
+			// dContactGeom *target = SAFECONTACT(flags, contact, contacts, skip);
+			DContactGeom target = contactBuf.getSafe(flags, contacts);
+			dSubtractVectors3(target.normal, c2, c1);
+			double depth_square = dCalcVectorLengthSquare3(target.normal);
+
+			if (dxSafeNormalize3(target.normal))
+			{
+				target.depth = dSqrt(depth_square);
+			}
+			else
+			{
+				// If edges coincide return direction from one center to the other as the contact normal
+				dVector3Copy(ccso.dist, target.normal);
+
+				if (!dxSafeNormalize3(target.normal))
+				{
+					// If the both centers coincide as well return an arbitrary vector. The depth is going to be zero anyway.
+					// dAssignVector3(target.normal, 1, 0, 0);
+					target.normal.set(1, 0, 0);
+				}
+
+				target.depth = 0; // Since the edges coincide, return a contact of zero depth
+			}
+
+			target.g1 = cvx1;
+			target.g2 = cvx2;
+			dVector3Copy(c1, target.pos);
 		    contacts++;
 		}
 		return contacts;
@@ -1936,17 +1908,31 @@ int dCollideRayConvex( DxRay ray, DxConvex convex,
 			contact.side2 = -1; // TODO: set plane index?
 	
 			double alpha, beta, nsign;
+			boolean flag = false;
 	
 			//
 			// Compute some useful info
 			//
-	
-			DVector3 ray_pos = new DVector3();
-			DVector3 ray_dir = new DVector3();
 
-			dMultiply1_331(ray_pos, convex.final_posr().R(), new DVector3(ray.final_posr().pos()).sub(convex.final_posr().pos()));
-			dMultiply1_331(ray_dir, convex.final_posr().R(), ray.final_posr().R().columnAsNewVector(2));
-			boolean flag = false;
+			//			dVector3 ray_pos = {
+			//					ray->final_posr->pos[0] - convex->final_posr->pos[0],
+			//					ray->final_posr->pos[1] - convex->final_posr->pos[1],
+			//					ray->final_posr->pos[2] - convex->final_posr->pos[2]
+			//			};
+			DVector3 ray_pos = new DVector3(ray.final_posr().pos()).sub(convex.final_posr().pos());
+			//
+			//			dVector3 ray_dir = {
+			//					ray->final_posr->R[0 * 4 + 2],
+			//					ray->final_posr->R[1 * 4 + 2],
+			//					ray->final_posr->R[2 * 4 + 2]
+			//			};
+			DVector3 ray_dir = ray.final_posr().R().columnAsNewVector(2);
+
+			//dMultiply1_331(ray_pos, convex->final_posr->R, ray_pos);
+			//dMultiply1_331(ray_dir, convex->final_posr->R, ray_dir);
+			dMultiply1_331(ray_pos, convex.final_posr().R(), ray_pos);
+			dMultiply1_331(ray_dir, convex.final_posr().R(), ray_dir);
+
 			for ( int i = 0; i < convex.planecount; ++i )
 			{
 				// Alias this plane.
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxHashSpace.java b/core/src/main/java/org/ode4j/ode/internal/DxHashSpace.java
index e9cf874e..5c524cde 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxHashSpace.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxHashSpace.java
@@ -226,12 +226,15 @@ public void collide (Object data, DNearCallback callback)
 				aabb.level = level;
 				if (level > maxlevel) maxlevel = level;
 				// cellsize = 2^level
-				double cellSizeRecip = dRecip(ldexp(1.0, level));
-				// discretize AABB position to cell size
+				double cellSizeRecip = dRecip(ldexp(1.0, level)); // No computational errors here!
 				// discretize AABB position to cell size
 				for (i=0; i < 3; i++) {
-					aabb.dbounds[2*i] = (int)Math.floor (geom._aabb.getMin(i) * cellSizeRecip);
-					aabb.dbounds[2*i+1] = (int)Math.floor (geom._aabb.getMax(i) * cellSizeRecip);
+					double aabbBoundMin = Math.floor (geom._aabb.getMin(i) * cellSizeRecip); // No computational errors so far!
+					double aabbBoundMax = Math.floor (geom._aabb.getMax(i) * cellSizeRecip); // No computational errors so far!
+					dICHECK(aabbBoundMin >= Integer.MIN_VALUE && aabbBoundMin </*=*/ Integer.MAX_VALUE); // Otherwise the scene is too large for integer types used
+					dICHECK(aabbBoundMax >= Integer.MIN_VALUE && aabbBoundMax </*=*/ Integer.MAX_VALUE); // Otherwise the scene is too large for integer types used
+					aabb.dbounds[2*i] = (int)Math.floor (aabbBoundMin);
+					aabb.dbounds[2*i+1] = (int)Math.floor (aabbBoundMax);
 				}
 				// set AABB index
 				aabb.index = hash_boxes.size();
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxQuadTreeSpace.java b/core/src/main/java/org/ode4j/ode/internal/DxQuadTreeSpace.java
index 9f1fc587..d5f8658f 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxQuadTreeSpace.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxQuadTreeSpace.java
@@ -25,9 +25,7 @@
 package org.ode4j.ode.internal;
 
 import static org.ode4j.ode.OdeConstants.dInfinity;
-import static org.ode4j.ode.internal.Common.dAASSERT;
-import static org.ode4j.ode.internal.Common.dIASSERT;
-import static org.ode4j.ode.internal.Common.dNextAfter;
+import static org.ode4j.ode.internal.Common.*;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -295,15 +293,21 @@ void AddObject(DxGeom aObject){
 		//void Block::DelObject(dGeom Object){
 		void DelObject(DxGeom aObject){
 			// Del the geom
-			DxGeom g = mFirst;
-			DxGeom Last = null;
-			while (g!=null){
-				if (g == aObject){
-					if (Last!=null){
-						Last.setNextEx( g.getNextEx() );
-					}
-					else mFirst = g.getNextEx();
+			DxGeom Last = null, g = mFirst;
+			boolean Found = false;
+
+			if (g == aObject){
+				mFirst = g.getNextEx();
+				Found = true;
+			}
+			else {
+				Last = g;
+				g = g.getNextEx();
+			}
 
+			for (; !Found && g != null; Found = false){
+				if (g == aObject){
+					Last.setNextEx( g.getNextEx() );
 					break;
 				}
 				Last = g;
@@ -312,7 +316,9 @@ void DelObject(DxGeom aObject){
 
 			//XXX TZ aObject.tome = null;
 			aObject._qtIdxEx = null;
-			
+			// dUASSERT((aObject.getNext() = 0, true), "Needed for an assertion check only");
+			aObject.setNextEx(null);
+			dUASSERT(true, "Needed for an assertion check only");
 
 			// Now traverse upwards to tell that we have lost a geom
 			Block Block = this;
@@ -481,7 +487,7 @@ public void DESTRUCTOR(){
 	void add(DxGeom g){
 		CHECK_NOT_LOCKED (this);
 		//Common.dAASSERT(g);
-		Common.dUASSERT(g._qtIdxEx == null && g.getNextEx() == null, 
+		dUASSERT(g._qtIdxEx == null && g.getNextEx() == null,
 		"geom is already in a space");
 
 		DirtyList.add(g);
@@ -497,7 +503,7 @@ void add(DxGeom g){
 	void remove(DxGeom g){
 		CHECK_NOT_LOCKED(this);
 		//Common.dAASSERT(g);
-		Common.dUASSERT(g.parent_space == this,"object is not in this space");
+		dUASSERT(g.parent_space == this,"object is not in this space");
 
 		// remove
 		//TZ XXX ((Block*)g.tome).DelObject(g);
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxQuickStep.java b/core/src/main/java/org/ode4j/ode/internal/DxQuickStep.java
index e68f6e28..ef1fcb4a 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxQuickStep.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxQuickStep.java
@@ -40,6 +40,7 @@
 import static org.ode4j.ode.internal.QuickStepEnums.*;
 import static org.ode4j.ode.internal.Timer.*;
 import static org.ode4j.ode.internal.Timer.dTimerReport;
+import static org.ode4j.ode.internal.cpp4j.Cstring.memcpy;
 
 import java.io.PrintStream;
 import java.util.Arrays;
@@ -85,7 +86,7 @@ public class DxQuickStep extends AbstractStepper implements dstepper_fn_t,
     public static int RRS_REORDERING = 0;
     // public static int RRS_REVERSAL = 1;
     // public static int RRS_MIN = 0;
-    public static int RRS_MAX = 2;
+    public static int RRS_MAX = 1;
 
 	private static final boolean CHECK_VELOCITY_OBEYS_CONSTRAINT = false;
 
@@ -145,6 +146,18 @@ private enum ReorderingMethod {
 	// or hardly at all, but it doesn't seem to hurt.
 	private static final ReorderingMethod CONSTRAINTS_REORDERING_METHOD = ReorderingMethod.REORDERING_METHOD__RANDOMLY;
 
+	//		#if CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__RANDOMLY
+	//	#if !defined(RANDOM_CONSTRAINTS_REORDERING_FREQUENCY)
+	//	#define RANDOM_CONSTRAINTS_REORDERING_FREQUENCY 8U
+	//	#endif
+	//		dSASSERT(RANDOM_CONSTRAINTS_REORDERING_FREQUENCY != 0);
+	//	#endif
+	// TZ: see further up.
+	//	enum dxRandomReorderStage {
+	//		//RRS__MIN,
+	//		RRS_REORDERING,// = RRS__MIN,
+	//		RRS__MAX,
+	//	};
 
 	//***************************************************************************
 	// macros, typedefs, forwards and inlines
@@ -228,6 +241,17 @@ private static class DJointWithInfo1
 	//		int mIndex;
 	//		int fbIndex;
 	//	}
+	private static void setMIndex(int[] mindex, int pos, int mIndex, int fbIndex) {
+		mindex[2 * pos] = mIndex;
+		mindex[2 * pos + 1] = fbIndex;
+	}
+	private static int getMIndex(int[] mindex, int pos) {
+		return mindex[2 * pos];
+	}
+	private static int getFbIndex(int[] mindex, int pos) {
+		return mindex[pos * 2 + 1];
+	}
+
 	//
 	//	private static class dxJBodiesItem {
 	//		int first;
@@ -583,8 +607,9 @@ private static boolean IsSORConstraintsReorderRequiredForIteration(int iteration
 			result = true;
 		} else if (CONSTRAINTS_REORDERING_METHOD == ReorderingMethod.REORDERING_METHOD__RANDOMLY) {
 			// This logic is intended to skip randomization on the very first iteration
-			if (iteration < RANDOM_CONSTRAINTS_REORDERING_FREQUENCY ? iteration == 0
-					: iteration % RANDOM_CONSTRAINTS_REORDERING_FREQUENCY < RRS_MAX) {
+			if (iteration >= RANDOM_CONSTRAINTS_REORDERING_FREQUENCY
+					? (iteration % RANDOM_CONSTRAINTS_REORDERING_FREQUENCY < RRS_MAX)
+					: iteration == 0) {
 				result = true;
 			}
 		} else {
@@ -911,22 +936,19 @@ void dxQuickStepIsland_Stage1(dxQuickStepperStage1CallContext stage1CallContext)
 			{
 				int mcurrO = 0;//mindex;
 				int moffs = 0, mfboffs = 0;
-				mindex[mcurrO+0] = moffs;
-				mindex[mcurrO+1] = mfboffs;
-				mcurrO += 2;
+				setMIndex(mindex, mcurrO, moffs, mfboffs);
+				++mcurrO;
 
+				//for (DJointWithInfo1 jicurr: jointinfos) {
 				for (int i = 0; i < nj; i++) {
 					DJointWithInfo1 jicurr = jointinfos[i];
-				//TODO fix issue #18
-				//for (DJointWithInfo1 jicurr: jointinfos) {
 					//const dJointWithInfo1 *const jiend = jointinfos + nj;
 					//for (const dJointWithInfo1 *jicurr = jointinfos; jicurr != jiend; ++jicurr) {
 					DxJoint joint = jicurr.joint;
 					moffs += jicurr.info.m;
 					if (joint.feedback != null) { mfboffs += jicurr.info.m; }
-					mindex[mcurrO+0] = moffs;
-					mindex[mcurrO+1] = mfboffs;
-					mcurrO += 2;
+					setMIndex(mindex, mcurrO, moffs, mfboffs);
+					++mcurrO;
 				}
 			}
 
@@ -1095,19 +1117,21 @@ void dxQuickStepIsland_Stage2a(dxQuickStepperStage2CallContext stage2CallContext
 
 	        int ji;
 	        while ((ji = Atomics.ThrsafeIncrementIntUpToLimit(stage2CallContext.m_ji_J, nj)) != nj) {
-	            final int ofsi = mindex[ji * 2 + 0];
-	            final int infom = mindex[ji * 2 + 2] - ofsi;
+				final int ofsi = getMIndex(mindex, ji);
+				final int infom = getMIndex(mindex, ji + 1) - ofsi;
 	            int jRow = ofsi * JME__MAX;
-	            int jEnd = jRow + infom * JME__MAX;
-	            for (int jCurr = jRow; jCurr != jEnd; jCurr += JME__MAX) {
-	            	dSetZero(J, jCurr + JME__J1_MIN, JME__J1_COUNT);
-	            	J[jCurr + JME_RHS] = 0.0;
-	            	J[jCurr + JME_CFM] = worldCFM;
-	            	dSetZero(J, jCurr + JME__J2_MIN, JME__J2_COUNT);
-	            	J[jCurr + JME_LO] = -dInfinity;
-	            	J[jCurr + JME_HI] = dInfinity;
-	            }
-				dSASSERT(JME__J1_COUNT + 2 + JME__J2_COUNT + 2 == JME__MAX);
+				{
+					int jEnd = jRow + infom * JME__MAX;
+					for (int jCurr = jRow; jCurr != jEnd; jCurr += JME__MAX) {
+						dSetZero(J, jCurr + JME__J1_MIN, JME__J1_COUNT);
+						J[jCurr + JME_RHS] = 0.0;
+						J[jCurr + JME_CFM] = worldCFM;
+						dSetZero(J, jCurr + JME__J2_MIN, JME__J2_COUNT);
+						J[jCurr + JME_LO] = -dInfinity;
+						J[jCurr + JME_HI] = dInfinity;
+					}
+					dSASSERT(JME__J1_COUNT + 2 + JME__J2_COUNT + 2 == JME__MAX);
+				}
 	            int findexRow = ofsi;
 	            dSetValue(findex, findexRow, infom, -1);
 
@@ -1116,41 +1140,72 @@ void dxQuickStepIsland_Stage2a(dxQuickStepperStage2CallContext stage2CallContext
 						JME__MAX, J, jRow + JME__RHS_CFM_MIN, J, jRow + JME__LO_HI_MIN, findex, findexRow);
 
 	            // findex iteration is compact and is not going to pollute caches - do it first
-	            // adjust returned findex values for global index numbering
-				// TZ: This looks alright, but is different from the original where we use findexRow
-	            for (int j = infom; j != 0; ) {
-	            	--j;
-	            	int fival = findex[j+ofsi];
-	            	if (fival != -1)  {
-	            		findex[j+ofsi] = fival + ofsi;
-	            		validFIndices++;
-	            	}
-	            }
-
-	            for (int jCurr = jRow; jCurr != jEnd; jCurr += JME__MAX) {
-	            	J[jCurr + JME_RHS] *= stepsizeRecip;
-	            	J[jCurr + JME_CFM] *= stepsizeRecip;
-	            }
-
+				{
+					// adjust returned findex values for global index numbering
+					int findicesEndOfs = findexRow + infom;
+					for (int findexCurrOfs = findexRow; findexCurrOfs != findicesEndOfs; ++findexCurrOfs) {
+						int fival = findex[findexCurrOfs]; // *findexCurr;
+						if (fival != -1) {
+							findex[findexCurrOfs] = fival + ofsi; // *findexCurr = fival + ofsi;
+							++validFIndices;
+						}
+					}
+					// TZ: This looks alright, but is different from the original where we use findexRow
+//					for (int j = infom; j != 0; ) {
+//						--j;
+//						int fival = findex[j + ofsi];
+//						if (fival != -1) {
+//							findex[j + ofsi] = fival + ofsi;
+//							++validFIndices;
+//						}
+//					}
+				}
+				{
+					// dReal *const JEnd = JRow + infom * JME__MAX;
+					int jEnd = jRow + infom * JME__MAX;
+					for (int jCurr = jRow; jCurr != jEnd; jCurr += JME__MAX) {
+						J[jCurr + JME_RHS] *= stepsizeRecip;
+						J[jCurr + JME_CFM] *= stepsizeRecip;
+					}
+				}
 	            // we need a copy of Jacobian for joint feedbacks
 	            // because it gets destroyed by SOR solver
 	            // instead of saving all Jacobian, we can save just rows
 	            // for joints, that requested feedback (which is normally much less)
-	            int mfbcurr = mindex[ji * 2 + 1], mfbnext = mindex[ji * 2 + 3];
-                int mfbCount = mfbnext - mfbcurr;
-                if (mfbCount != 0) {
-                    int jEndMfb = jRow + mfbCount * JME__MAX;
-                    for (int jCurr = jRow; jCurr < jEndMfb ;jCurr += JME__MAX) {
-                    	System.arraycopy(J, jCurr + JME__J1_MIN, Jcopy, jCopy_ofs + JCE__J1_MIN, JME__J1_COUNT);
-                    	System.arraycopy(J, jCurr + JME__J2_MIN, Jcopy, jCopy_ofs + JCE__J2_MIN, JME__J2_COUNT);
-                    	jCopy_ofs += JCE__MAX;
-                    }	        
+				int mfbIndex = getFbIndex(mindex, ji); //mindex[ji].fbIndex;
+				if (mfbIndex != getMIndex(mindex, ji + 1)) { //mindex[ji + 1].fbIndex) {
+				// dReal *const JEnd = JRow + infom * JME__MAX;
+				// dReal *JCopyRow = JCopy + mfbIndex * JCE__MAX; // Random access by mfbIndex here! Do not optimize!
+					final int jEnd = jRow + infom * JME__MAX;
+					int JCopyRow = jCopy_ofs + mfbIndex * JCE__MAX; // Random access by mfbIndex here! Do not optimize!
+					//for (const dReal *JCurr = JRow; ; ) {
+					for (int jCurr = jRow; jCurr < jEnd ;) {
+						//for (unsigned i = 0; i != JME__J1_COUNT; ++i) { JCopyRow[i + JCE__J1_MIN] = JCurr[i + JME__J1_MIN]; }
+						//for (unsigned j = 0; j != JME__J2_COUNT; ++j) { JCopyRow[j + JCE__J2_MIN] = JCurr[j + JME__J2_MIN]; }
+						System.arraycopy(J, jCurr + JME__J1_MIN, Jcopy, JCopyRow + JCE__J1_MIN, JME__J1_COUNT);
+						System.arraycopy(J, jCurr + JME__J2_MIN, Jcopy, JCopyRow + JCE__J2_MIN, JME__J2_COUNT);
+						JCopyRow += JCE__MAX;
+
+						// TZ move this outside of loop
+						// dSASSERT((unsigned)JCE__J1_COUNT == JME__J1_COUNT);
+						// dSASSERT((unsigned)JCE__J2_COUNT == JME__J2_COUNT);
+						// dSASSERT(JCE__J1_COUNT + JCE__J2_COUNT == JCE__MAX);
+
+						if ((jCurr += JME__MAX) == jEnd) {
+							break;
+						}
+					}
                 }
 	        }
     	    Atomics.ThrsafeAdd(localContext.m_valid_findices, validFIndices);
 	    }
 
-	    {
+		// TZ moved this here from inside loop above.
+		dSASSERT(JCE__J1_COUNT == JME__J1_COUNT);
+		dSASSERT(JCE__J2_COUNT == JME__J2_COUNT);
+		dSASSERT(JCE__J1_COUNT + JCE__J2_COUNT == JCE__MAX);
+
+		{
 	        int[] jb = localContext.m_jb;
 
 	        // create an array of body numbers for each joint row
@@ -1161,8 +1216,8 @@ void dxQuickStepIsland_Stage2a(dxQuickStepperStage2CallContext stage2CallContext
 	        	int b1 = (joint.node[0].body!=null) ? (joint.node[0].body.tag) : -1;
 	        	int b2 = (joint.node[1].body!=null) ? (joint.node[1].body.tag) : -1;
 
-	        	int jb_end = 2 * mindex[ji * 2 + 2];
-	        	int jb_ptr = 2 * mindex[ji * 2 + 0];
+	        	int jb_end = 2 * getMIndex(mindex, ji + 1);
+	        	int jb_ptr = 2 * getMIndex(mindex, ji);
 	        	for (; jb_ptr != jb_end; jb_ptr += 2) {
 	        		jb[jb_ptr] = b1;
 	        		jb[jb_ptr+1] = b2;
@@ -1407,8 +1462,8 @@ void dxQuickStepIsland_Stage4a(dxQuickStepperStage4CallContext stage4CallContext
         int ji_step;
         while ((ji_step = Atomics.ThrsafeIncrementIntUpToLimit(stage4CallContext.m_ji_4a, nj_steps)) != nj_steps) {
             int ji = ji_step * step_size;
-            int lambdacurr = mindex[ji * 2];
-            int lambdsnext = mindex[2 * (ji + Math.min(step_size, nj - ji))];
+            int lambdacurr = getMIndex(mindex, ji);
+            int lambdsnext = getMIndex(mindex, ji + Math.min(step_size, nj - ji));
             dSetZero(lambda, lambdacurr, lambdsnext - lambdacurr);
         }
     }
@@ -1602,11 +1657,12 @@ void dxQuickStepIsland_Stage4LCP_ReorderPrep(dxQuickStepperStage4CallContext sta
     {
 	    dxQuickStepperLocalContext localContext = stage4CallContext.m_localContext;
 	    int m = localContext.m_m;
+		int valid_findices = localContext.m_valid_findices.get();
 
         IndexError []order = stage4CallContext.m_order;
         // make sure constraints with findex < 0 come first.
         int orderhead = 0;
-        int ordertail = m;
+        int ordertail = m - valid_findices;
         int[] findex = localContext.m_findex;
 
         // Fill the array from both ends
@@ -1615,13 +1671,8 @@ void dxQuickStepIsland_Stage4LCP_ReorderPrep(dxQuickStepperStage4CallContext sta
                 order[orderhead].index = i; // Place them at the front
                 ++orderhead;
             } else {
-            	// TODO CHECK-TZ Has this been fixed with the recent bug fixes?
-            	// WARNING!!!
-            	// The dependent constraints are put in reverse order here (backwards to front).
-            	// They MUST be ordered this way.
-            	// Putting them in normal order makes simulation less stable for some mysterious reason.
-            	--ordertail;
-            	order[ordertail].index = i; // Place them at the end
+				order[ordertail].index = i; // Place them at the end
+				++ordertail;
             }
         }
     }
@@ -1664,7 +1715,10 @@ int dxQuickStepIsland_Stage4LCP_IterationStart(final dxQuickStepperStage4CallCon
                 reorderRequired = true;
             }
 
-            // Increment iterations counter in advance as anyway it needs to be incremented 
+			// TODO CHECK-TZ why don't we need this?
+			// unsigned syncCallDependencies = reorderRequired ? 1 : stage4LCP_Iteration_allowedThreads;
+
+			// Increment iterations counter in advance as anyway it needs to be incremented
             // before independent tasks (the reordering or the iteration) are posted
             // (otherwise next iteration may complete before the increment 
             // and the same iteration index may be used again).
@@ -1743,15 +1797,25 @@ void dxQuickStepIsland_Stage4LCP_ConstraintsReordering(dxQuickStepperStage4CallC
                 dxQuickStepIsland_Stage4LCP_DependencyMapForNewOrderRebuilding(stage4CallContext);
             }
         }
+		else {
+			// TODO CHECK-TZ
+			if (true)
+				throw new UnsupportedOperationException("THis was added in 16.2, why did I miss it?");
+			// NOTE: So far, this branch is only called in CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__BY_ERROR case
+			if (Atomics.ThrsafeExchangeAdd(stage4CallContext.m_SOR_reorderThreadsRemaining, -1) == 1) { // If last thread has exited the reordering routine...
+				dIASSERT(iteration != 0);
+				dxQuickStepIsland_Stage4LCP_DependencyMapFromSavedLevelsReconstruction(stage4CallContext);
+			}
+		}
     }
 
     private static 
     boolean dxQuickStepIsland_Stage4LCP_ConstraintsShuffling(dxQuickStepperStage4CallContext stage4CallContext, int iteration)
     {
         boolean result = false;
+		// #if CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__BY_ERROR
         if (CONSTRAINTS_REORDERING_METHOD == ReorderingMethod.REORDERING_METHOD__BY_ERROR) {
             /*
-            #if CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__BY_ERROR
                 struct ConstraintsReorderingHelper
                 {
                     void operator ()(dxQuickStepperStage4CallContext *stage4CallContext, int int startIndex, int int endIndex)
@@ -1784,6 +1848,13 @@ else if (last_lambda[i] != REAL(0.0)) {
                 if (iteration > 1) { // Only reorder starting from iteration #2
                     // sort the constraints so that the ones converging slowest
                     // get solved last. use the absolute (not relative) error.
+					//
+					//  Full reorder needs to be done.
+					//  Even though this contradicts the initial idea of moving dependent constraints
+					//  to the order end the algorithm does not work the other way well.
+					//  It looks like the iterative method needs a shake after it already found
+					//  some initial approximations and those incurred errors help it to converge even better.
+					//
                     if (ThrsafeExchange(&stage4CallContext->m_SOR_reorderHeadTaken, 1) == 0) {
                         // Process the head
                         const dxQuickStepperLocalContext *localContext = stage4CallContext->m_localContext;
@@ -1822,37 +1893,55 @@ else if (iteration == 1) {
                 else {
                     result = true; // return true on 0th iteration to build dependency map for the initial order 
                 }
-            #elif CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__RANDOMLY
         */
 			throw new UnsupportedOperationException();
+        // #elif CONSTRAINTS_REORDERING_METHOD == REORDERING_METHOD__RANDOMLY
         } else if (CONSTRAINTS_REORDERING_METHOD == ReorderingMethod.REORDERING_METHOD__RANDOMLY) {
         	if (iteration != 0) {
-	        	if (iteration % RANDOM_CONSTRAINTS_REORDERING_FREQUENCY == RRS_REORDERING) {
+				dIASSERT(!dIN_RANGE(iteration, 0, RANDOM_CONSTRAINTS_REORDERING_FREQUENCY));
+
+				dIASSERT(iteration % RANDOM_CONSTRAINTS_REORDERING_FREQUENCY == RRS_REORDERING);
+				{
+					dIASSERT(!dIN_RANGE(iteration, 0, RANDOM_CONSTRAINTS_REORDERING_FREQUENCY));
+
+					dIASSERT(iteration % RANDOM_CONSTRAINTS_REORDERING_FREQUENCY == RRS_REORDERING);
+					//					{
+					//					class ConstraintsReorderingHelper {
+					//						void operator ()(dxQuickStepperStage4CallContext *stage4CallContext, unsigned int startIndex, unsigned int indicesCount)
+					//						{
+					//							IndexError *order = stage4CallContext->m_order + startIndex;
+					//
+					//							for (unsigned int index = 1; index < indicesCount; ++index) {
+					//							int swapIndex = dRandInt(index + 1);
+					//							IndexError tmp = order[index];
+					//							order[index] = order[swapIndex];
+					//							order[swapIndex] = tmp;
+					//						}
+					//						}
+					//					};
+
+					/*
+					 *  Full reorder needs to be done.
+					 *  Even though this contradicts the initial idea of moving dependent constraints
+					 *  to the order end the algorithm does not work the other way well.
+					 *  It looks like the iterative method needs a shake after it already found
+					 *  some initial approximations and those incurred errors help it to converge even better.
+					 */
 					if (Atomics.ThrsafeExchange(stage4CallContext.m_SOR_reorderHeadTaken, 1) == 0) {
 						// Process the head
-						dxQuickStepperLocalContext localContext = stage4CallContext.m_localContext;
-						ConstraintsReorderingHelper(stage4CallContext, 0,
-								localContext.m_m - localContext.m_valid_findices.get());
-					}					
-					if (Atomics.ThrsafeExchange(stage4CallContext.m_SOR_reorderTailTaken, 1) == 0) {
-						// Process the tail
-						dxQuickStepperLocalContext localContext = stage4CallContext.m_localContext;
-						ConstraintsReorderingHelper(stage4CallContext, localContext.m_m - localContext.m_valid_findices.get(),
-								localContext.m_valid_findices.get());
+						final dxQuickStepperLocalContext localContext = stage4CallContext.m_localContext;
+						ConstraintsReorderingHelper(stage4CallContext, 0, localContext.m_m);
 					}
-	        	} else {
-	        		// Revert to the normal order on the next step after the shuffling
-	        		dxQuickStepIsland_Stage4LCP_ReorderPrep(stage4CallContext);
-	        	}
+				}
+				// dIASSERT((RRS__MAX, true)); // A reference to RRS__MAX to be located by Find in Files
         	} else {
         	// Just return true and skip the randomization for the very first iteration
         	}
 			result = true;
+		// #else // #if CONSTRAINTS_REORDERING_METHOD != REORDERING_METHOD__BY_ERROR && CONSTRAINTS_REORDERING_METHOD != REORDERING_METHOD__RANDOMLY
         } else {
-        	// TODO CHECK-TZ Confirm that this works, otherwise remove condition again
-			if (iteration == 0) {
-				result = true; // return true on 0th iteration to build dependency map for initial order
-			}
+			dIASSERT(iteration == 0);  // The reordering request is only returned for the first iteration
+			result = true;
         }
         return result;
     }
@@ -1966,6 +2055,23 @@ void dxQuickStepIsland_Stage4LCP_DependencyMapFromSavedLevelsReconstruction(dxQu
         AtomicInteger[] mi_levels = stage4CallContext.m_bi_links_or_mi_levels;
         AtomicInteger[] mi_links = stage4CallContext.m_mi_links;
 
+		// NOTE!
+		// OD: The mi_links array is not zero-filled before the reconstruction.
+		// Iteration ends with all the down links zeroed. And since down links
+		// are moved to the next level links when parent-child relations are established,
+		// the horizontal levels are properly terminated.
+		// The leaf nodes had their links zero-initialized initially
+		// and those zeros remain intact during the solving. This way the down links
+		// are properly terminated as well.
+		// This is very obscure and error prone and would need an assertion check at least
+		// but the simplest assertion approach I can imagine would be
+		// zero filling and building another tree with the memory buffer comparison afterwards.
+		// That would be stupid, obviously.
+		//
+		// NOTE!
+		// OD: This routine can be threaded. However having two threads messing
+		// in one integer array with random access and kicking each other memory lines
+		// out of cache would probably work worse than letting a single thread do the whole job.
         int m = localContext.m_m;
         for (int i = 0; i != m; ++i) {
             int currentLevelRoot = mi_levels[i].get();
@@ -1998,10 +2104,37 @@ public void run() {
         }
         dxQuickStepIsland_Stage4LCP_MTIteration(stage4CallContext, knownToBeCompletedLevel);
     }
-	
-    public static AtomicInteger mtIterations = new AtomicInteger();
-    
-    private static 
+
+	public static AtomicInteger mtIterations = new AtomicInteger();
+
+	/*
+	 *	       +0                +0
+	 * Root───┬─────────────────┬──...
+	 *      +1│               +1│
+	 *       ┌┴┐+0   ┌─┐+0      .
+	 *       │A├─────┤B├─...
+	 *       └┬┘     └┬┘
+	 *      +1│     +1│
+	 *       ┌┴┐+0    .
+	 *       │C├─...
+	 *       └┬┘
+	 *      +1│
+	 *        .
+	 *
+	 *  Lower tree levels depend on their parents. Same level nodes are independent with respect to each other.
+	 *
+	 *  1. B is linked in place of A
+	 *  2. A is processed
+	 *  3. C is inserted at the Root level
+	 *
+	 *  The tree starts with a single child subtree at the root level ("down" link of slot #0 is used for that).
+	 *  Then, additional "C" nodes are added to the root level by building horizontal link via slots of
+	 *  their former parent "A"s that had become free.
+	 *  The "level" link of slot #0 is used to find the root level head.
+	 *
+	 *  Since the tree is altered during iteration, mi_levels record each node parents so that the tree could be reconstructed.
+	 */
+    private static
     void dxQuickStepIsland_Stage4LCP_MTIteration(final dxQuickStepperStage4CallContext stage4CallContext, final int initiallyKnownToBeCompletedLevel)
     {
     	mtIterations.incrementAndGet();
@@ -2247,6 +2380,8 @@ void dxQuickStepIsland_Stage4b(dxQuickStepperStage4CallContext stage4CallContext
         // they should not be used again.
 
         if (IsStage4bJointInfosIterationRequired(localContext)) {
+			DVector3 dataL = new DVector3(); //JVE__MAX;
+			DVector3 dataA = new DVector3(); //JVE__MAX;
             double[] Jcopy = localContext.m_Jcopy;
             double[] lambda = stage4CallContext.m_lambda;
             int[] mindex = localContext.m_mindex;
@@ -2259,33 +2394,75 @@ void dxQuickStepIsland_Stage4b(dxQuickStepperStage4CallContext stage4CallContext
             int ji_step;
             while ((ji_step = Atomics.ThrsafeIncrementIntUpToLimit(stage4CallContext.m_ji_4b, nj_steps)) != nj_steps) {
                 int ji = ji_step * step_size;
-                int lambdacurr = mindex[ji * 2];
-                int Jcopycurr = mindex[ji * 2 + 1] * JCE__MAX;
-                int jicurr = ji;
-                int jiend = jicurr + Math.min(step_size, nj - ji);
+				final int jiend = ji + Math.min(step_size, nj - ji);
 
-                while (true) {
-                    DxJoint joint = jointinfos[jicurr].joint;
-                    int infom = jointinfos[jicurr].info.m;
+				//const dReal *Jcopycurr = Jcopy + (sizeint)mindex[ji].fbIndex * JCE__MAX;
+				int Jcopycurr = getFbIndex(mindex, ji) * JCE__MAX;
 
+                while (true) {
                     // straightforward computation of joint constraint forces:
                     // multiply related lambdas with respective J' block for joints
                     // where feedback was requested
-            		DJoint.DJointFeedback fb = joint.feedback;
-                    if (fb != null) {
-                    	dAssertVec3Element(); // Assigning fb.f1/f2/t1/t2 inside multiply, see ODE code.
-                        Multiply1_12q1 (fb.f1, fb.t1, Jcopy, Jcopycurr + JCE__J1_MIN, lambda, lambdacurr, infom);
-                        if (joint.node[1].body != null) {
-                	        Multiply1_12q1 (fb.f2, fb.t2, Jcopy, Jcopycurr + JCE__J2_MIN, lambda, lambdacurr, infom);
-                        }
-                        Jcopycurr += infom * JCE__MAX;
-                    }
+                	final int fb_infom = getFbIndex(mindex, ji + 1) - getFbIndex(mindex, ji);
+					if (fb_infom != 0) {
+						dIASSERT(fb_infom == getMIndex(mindex, ji + 1) - getMIndex(mindex, ji));
+
+                    	//const dReal *lambdacurr = lambda + mindex[ji].mIndex;
+						final int lambdacurrOfs = getMIndex(mindex, ji);
+						DxJoint joint = jointinfos[ji].joint;
+
+				// #ifdef WARM_STARTING
+						if (WARM_STARTING) {
+							memcpy(joint.lambda, 0, lambda, lambdacurrOfs, fb_infom);
+						}
+				// #endif
+
+						DJoint.DJointFeedback fb = joint.feedback;
+
+						dAssertVec3Element(); // ode4j specific assertion
+						if (joint.node[1].body != null) {
+							Multiply1_12q1 (dataL, dataA, Jcopy, Jcopycurr + JCE__J2_MIN, lambda, lambdacurrOfs, fb_infom);
+							dSASSERT(JCE__MAX == 12);
+
+							// fb.f2[dSA_X] = data[JVE_LX];
+							// fb->f2[dSA_Y] = data[JVE_LY];
+							// fb->f2[dSA_Z] = data[JVE_LZ];
+							// fb->t2[dSA_X] = data[JVE_AX];
+							// fb->t2[dSA_Y] = data[JVE_AY];
+							// fb->t2[dSA_Z] = data[JVE_AZ];
+							fb.f2.set(dataL);
+							fb.t2.set(dataA);
+						}
+
+						Multiply1_12q1 (dataL, dataA, Jcopy, Jcopycurr + JCE__J1_MIN, lambda, lambdacurrOfs, fb_infom);
+						dSASSERT(JCE__MAX == 12);
+
+						// fb->f1[dSA_X] = data[JVE_LX];
+						// fb->f1[dSA_Y] = data[JVE_LY];
+						// fb->f1[dSA_Z] = data[JVE_LZ];
+						// fb->t1[dSA_X] = data[JVE_AX];
+						// fb->t1[dSA_Y] = data[JVE_AY];
+						// fb->t1[dSA_Z] = data[JVE_AZ];
+						fb.f2.set(dataL);
+						fb.t2.set(dataA);
+
+						Jcopycurr += fb_infom * JCE__MAX;
+					}
+					else {
+				// #ifdef WARM_STARTING
+						if (WARM_STARTING) {
+                    		int lambdacurrOfs = getMIndex(mindex, ji);
+                    		int infom = getMIndex(mindex,  ji + 1) - getMIndex(mindex, ji);
+							DxJoint joint = jointinfos[ji].joint;
+							memcpy(joint.lambda, 0, lambda, lambdacurrOfs, infom);
+				// #endif
+						}
+					}
 
-                    if (++jicurr == jiend) {
-                        break;
-                    }
-                    lambdacurr += infom;
-                }
+					if (++ji == jiend) {
+						break;
+					}
+				}
             }
         }
     }
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxSAPSpace.java b/core/src/main/java/org/ode4j/ode/internal/DxSAPSpace.java
index 9e92e879..f5c48aa7 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxSAPSpace.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxSAPSpace.java
@@ -261,7 +261,13 @@ void remove( DxGeom g )
 			GEOM_SET_GEOM_IDX(g,GEOM_INVALID_IDX);
 			GeomList.remove( geomSize-1 );
 		}
-		
+
+		//g->tome_ex = 0;
+		g._qtIdxEx = null;
+		// dUASSERT((g->next_ex = 0, true), "Needed for an assertion check only");
+		g.setNextEx(null);
+		dUASSERT(true, "Needed for an assertion check only");
+
 		super.remove(g);
 	}
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/DxWorld.java b/core/src/main/java/org/ode4j/ode/internal/DxWorld.java
index 62ca30f3..0364870a 100644
--- a/core/src/main/java/org/ode4j/ode/internal/DxWorld.java
+++ b/core/src/main/java/org/ode4j/ode/internal/DxWorld.java
@@ -281,50 +281,50 @@ int dWorldGetStepIslandsProcessingMaxThreadCount()
 	    return islands_max_threads;
 	}
 
-	/**
-	 * 
-	 * @param policyinfo
-	 * @return x
-	 * @deprecated Not used anymore: remove TODO
-	 */
-	@Deprecated
-	boolean dWorldSetStepMemoryReservationPolicy(final DWorldStepReserveInfo policyinfo)
-	{
-	    dUASSERT (policyinfo==null || (policyinfo.struct_size >= DxUtil.sizeof(policyinfo) && policyinfo.reserve_factor >= 1.0f), "Bad policy info");
-
-	    boolean result = false;
-
-	    //(TZ) DxStepWorkingMemory wmem = policyinfo!=null ? AllocateOnDemand(this.wmem) : this.wmem;
-        DxStepWorkingMemory wmem;
-        if (policyinfo!=null) {
-            if (this.wmem == null) {
-                this.wmem = new DxStepWorkingMemory();
-            }
-            wmem = this.wmem;
-        } else {
-            wmem = this.wmem;
-        }
-
-	    if (wmem!=null)
-	    {
-	        if (policyinfo!=null)
-	        {
-	            wmem.SetMemoryReserveInfo(policyinfo.reserve_factor, policyinfo.reserve_minimum);
-	            result = wmem.GetMemoryReserveInfo() != null;
-	        }
-	        else
-	        {
-	            wmem.ResetMemoryReserveInfoToDefault();
-	            result = true;
-	        }
-	    }
-	    else if (policyinfo==null)
-	    {
-	        result = true;
-	    }
-
-	    return result;
-	}
+	//	/**
+	//	 *
+	//	 * @param policyinfo
+	//	 * @return x
+	//	 * @deprecated Not used anymore
+	//	 */
+	//	@Deprecated
+	//	boolean dWorldSetStepMemoryReservationPolicy(final DWorldStepReserveInfo policyinfo)
+	//	{
+	//	    dUASSERT (policyinfo==null || (policyinfo.struct_size >= DxUtil.sizeof(policyinfo) && policyinfo.reserve_factor >= 1.0f), "Bad policy info");
+	//
+	//	    boolean result = false;
+	//
+	//	    //(TZ) DxStepWorkingMemory wmem = policyinfo!=null ? AllocateOnDemand(this.wmem) : this.wmem;
+	//        DxStepWorkingMemory wmem;
+	//        if (policyinfo!=null) {
+	//            if (this.wmem == null) {
+	//                this.wmem = new DxStepWorkingMemory();
+	//            }
+	//            wmem = this.wmem;
+	//        } else {
+	//            wmem = this.wmem;
+	//        }
+	//
+	//	    if (wmem!=null)
+	//	    {
+	//	        if (policyinfo!=null)
+	//	        {
+	//	            wmem.SetMemoryReserveInfo(policyinfo.reserve_factor, policyinfo.reserve_minimum);
+	//	            result = wmem.GetMemoryReserveInfo() != null;
+	//	        }
+	//	        else
+	//	        {
+	//	            wmem.ResetMemoryReserveInfoToDefault();
+	//	            result = true;
+	//	        }
+	//	    }
+	//	    else if (policyinfo==null)
+	//	    {
+	//	        result = true;
+	//	    }
+	//
+	//	    return result;
+	//	}
 
 
 	boolean dWorldStep (double stepsize)
diff --git a/core/src/main/java/org/ode4j/ode/internal/ErrorHdl.java b/core/src/main/java/org/ode4j/ode/internal/ErrorHdl.java
index 376591b7..9a1ed091 100644
--- a/core/src/main/java/org/ode4j/ode/internal/ErrorHdl.java
+++ b/core/src/main/java/org/ode4j/ode/internal/ErrorHdl.java
@@ -119,10 +119,11 @@ public static void dError (int num, String msg, Object ... ap) {
 		//  va_start (ap,msg);
 		if (error_function != null) {
 			error_function.call (num,msg,ap);
-		} 
-		logger.error("ODE Error " + num + ": " + msg, ap);
+		} else {
+			logger.error("ODE Error " + num + ": " + msg, ap);
+		}
 		throw new RuntimeException("#"+num + ": " + msg);
-		//System.exit (1);
+		//exit (1);
 	}
 
 
@@ -137,8 +138,9 @@ public static void dDebug (int num, String msg, Object ... ap) {
 		//  va_start (ap,msg);
 		if (debug_function != null) {
 			debug_function.call (num,msg,ap);
+		} else {
+			logger.debug("ODE INTERNAL ERROR " + " " + num + ": " + msg, ap);
 		}
-		logger.debug("ODE INTERNAL ERROR " + " " + num + ": " + msg, ap);
 		// *((char *)0) = 0;   ... commit SEGVicide
 		//abort();
 		throw new RuntimeException("#"+num + ": " + String.format(msg, ap));
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastDot.java b/core/src/main/java/org/ode4j/ode/internal/FastDot.java
index b5adb40a..e7b4e643 100644
--- a/core/src/main/java/org/ode4j/ode/internal/FastDot.java
+++ b/core/src/main/java/org/ode4j/ode/internal/FastDot.java
@@ -103,7 +103,8 @@ public static double dDot (final double[] a, int aOfs,
 	}
 
 	//template<unsigned b_stride>
-	public static double dxtDot (final double[] a, int a_pos, final double[] b, int b_pos, int n, int b_stride)
+	public static double calculateLargeVectorDot (
+			final double[] a, int a_pos, final double[] b, int b_pos, int n, final int b_stride)
 	{
 		double sum = 0;
     	int a_end = a_pos + (n & (int)(~3));
@@ -122,5 +123,4 @@ public static double dxtDot (final double[] a, int a_pos, final double[] b, int
 		}
 		return sum;
 	}
-
 }
\ No newline at end of file
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastLDLT.java b/core/src/main/java/org/ode4j/ode/internal/FastLDLTFactor.java
similarity index 94%
rename from core/src/main/java/org/ode4j/ode/internal/FastLDLT.java
rename to core/src/main/java/org/ode4j/ode/internal/FastLDLTFactor.java
index 4ed30bb1..1da4f375 100644
--- a/core/src/main/java/org/ode4j/ode/internal/FastLDLT.java
+++ b/core/src/main/java/org/ode4j/ode/internal/FastLDLTFactor.java
@@ -30,7 +30,7 @@
 /**
  * Implementation of FastDLTImpl
  */
-public class FastLDLT {
+public class FastLDLTFactor {
 //#ifndef _ODE_FASTLDLT_IMPL_H_
 //#define _ODE_FASTLDLT_IMPL_H_
 
@@ -48,7 +48,7 @@ public class FastLDLT {
 
 
     //    template<unsigned int d_stride>
-    public static void dxtFactorLDLT(double[] A, double[] d, int rowCount, int rowSkip, int d_stride) {
+    public static void factorMatrixAsLDLT(double[] A, double[] d, int rowCount, int rowSkip, int d_stride) {
         if (rowCount < 1) return;
 
         final int lastRowIndex = rowCount - 1;
@@ -60,10 +60,10 @@ public static void dxtFactorLDLT(double[] A, double[] d, int rowCount, int rowSk
         for (; blockStartRow < lastRowIndex; subsequentPass = true, ARow_pos += 2 * rowSkip, blockStartRow += 2) {
             if (subsequentPass) {
                 /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
-                dxSolveL1_2(A, A, ARow_pos, blockStartRow, rowSkip);
-                dxScaleAndFactorizeL1_2(A, ARow_pos, d, blockStartRow, rowSkip, d_stride);
+                solveL1Stripe_2(A, A, ARow_pos, blockStartRow, rowSkip);
+                scaleAndFactorizeL1Stripe_2(A, ARow_pos, d, blockStartRow, rowSkip, d_stride);
             } else {
-                dxScaleAndFactorizeFirstL1Row_2(A, ARow_pos, d, rowSkip, d_stride);
+                scaleAndFactorizeL1FirstRowStripe_2(A, ARow_pos, d, rowSkip, d_stride);
             }
             /* done factorizing 2 x 2 block */
         }
@@ -71,10 +71,10 @@ public static void dxtFactorLDLT(double[] A, double[] d, int rowCount, int rowSk
         /* compute the (less than 2) rows at the bottom */
         if (!subsequentPass || blockStartRow == lastRowIndex) {
             if (subsequentPass) {
-                dxSolveL1_1(A, A, ARow_pos, blockStartRow, rowSkip);
-                dxScaleAndFactorizeL1_1(A, ARow_pos, d, blockStartRow, d_stride);
+                solveStripeL1_1(A, A, ARow_pos, blockStartRow, rowSkip);
+                scaleAndFactorizeL1Stripe_1(A, ARow_pos, d, blockStartRow, d_stride);
             } else {
-                dxScaleAndFactorizeFirstL1Row_1(A, ARow_pos, d, d_stride);
+                scaleAndFactorizeL1FirstRowStripe_1(A, ARow_pos, d, d_stride);
             }
             /* done factorizing 1 x 1 block */
         }
@@ -89,7 +89,7 @@ public static void dxtFactorLDLT(double[] A, double[] d, int rowCount, int rowSk
      * this processes blocks of 2*2.
      * if this is in the factorizer source file, n must be a multiple of 2.
      */
-    static void dxSolveL1_2(final double[] L, double[] B, int bPos, int rowCount, int rowSkip) {
+    static void solveL1Stripe_2(final double[] L, double[] B, int bPos, int rowCount, int rowSkip) {
         dIASSERT(rowCount != 0);
         dIASSERT(rowCount % 2 == 0);
 
@@ -229,7 +229,7 @@ static void dxSolveL1_2(final double[] L, double[] B, int bPos, int rowCount, in
     }
 
     //template<unsigned int d_stride>
-    private static void dxScaleAndFactorizeL1_2(double[] ARow, int aPos, double[] d, int factorizationRow, int rowSkip, int d_stride) {
+    private static void scaleAndFactorizeL1Stripe_2(double[] ARow, int aPos, double[] d, int factorizationRow, int rowSkip, int d_stride) {
         dIASSERT(factorizationRow != 0);
         dIASSERT(factorizationRow % 2 == 0);
 
@@ -346,7 +346,7 @@ private static void dxScaleAndFactorizeL1_2(double[] ARow, int aPos, double[] d,
     }
 
     //template<unsigned int d_stride>
-    private static void dxScaleAndFactorizeFirstL1Row_2(double[] ARow, int aPos, double[] d, int rowSkip, int d_stride) {
+    private static void scaleAndFactorizeL1FirstRowStripe_2(double[] ARow, int aPos, double[] d, int rowSkip, int d_stride) {
         int ptrAElement = aPos; //ARow;
         double[] ptrDElement = d;
 
@@ -380,7 +380,7 @@ private static void dxScaleAndFactorizeFirstL1Row_2(double[] ARow, int aPos, dou
      * this processes blocks of 2*2.
      * if this is in the factorizer source file, n must be a multiple of 2.
      */
-    static void dxSolveL1_1(final double[] L, double[] B, int bPos, int rowCount, int rowSkip) {
+    static void solveStripeL1_1(final double[] L, double[] B, int bPos, int rowCount, int rowSkip) {
         dIASSERT(rowCount != 0);
         dIASSERT(rowCount % 2 == 0);
 
@@ -491,7 +491,7 @@ static void dxSolveL1_1(final double[] L, double[] B, int bPos, int rowCount, in
     }
 
     //template<unsigned int d_stride>
-    private static void dxScaleAndFactorizeL1_1(double[] ARow, int APos, double[] d, int factorizationRow, int d_stride) {
+    private static void scaleAndFactorizeL1Stripe_1(double[] ARow, int APos, double[] d, int factorizationRow, int d_stride) {
         int ptrAElement = APos;//ARow;
         int ptrDElement = 0;//d;
 
@@ -561,7 +561,7 @@ private static void dxScaleAndFactorizeL1_1(double[] ARow, int APos, double[] d,
     }
 
     //template<unsigned int d_stride>
-    private static void dxScaleAndFactorizeFirstL1Row_1(double[] ARow, int APos, double[] d, int d_stride) {
+    private static void scaleAndFactorizeL1FirstRowStripe_1(double[] ARow, int APos, double[] d, int d_stride) {
         int ptrAElement = APos; //ARow;
         double[] ptrDElement = d;
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastLDLTSolve.java b/core/src/main/java/org/ode4j/ode/internal/FastLDLTSolve.java
new file mode 100644
index 00000000..5159a8e5
--- /dev/null
+++ b/core/src/main/java/org/ode4j/ode/internal/FastLDLTSolve.java
@@ -0,0 +1,53 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2021 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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.                     *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.ode.internal;
+
+
+import static org.ode4j.ode.internal.Common.dAASSERT;
+import static org.ode4j.ode.internal.FastLSolve.solveL1Straight;
+import static org.ode4j.ode.internal.FastLTSolve.solveL1Transposed;
+import static org.ode4j.ode.internal.FastVecScale.scaleLargeVector;
+
+public class FastLDLTSolve {
+
+
+    // #ifndef _ODE_MATRIX_IMPL_H_
+    // #define _ODE_MATRIX_IMPL_H_
+
+
+    //	template<unsigned int d_stride, unsigned int b_stride>
+    //	void solveEquationSystemWithLDLT (const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip)
+    public static void solveEquationSystemWithLDLT(final double[] L, double[] dArray, int dPos, double[] bArray, int bPos, int rowCount, int rowSkip, int d_stride, int b_stride) {
+        dAASSERT(L != null);
+        dAASSERT(dArray != null);
+        dAASSERT(bArray != null);
+        dAASSERT(rowCount > 0);
+        dAASSERT(rowSkip >= rowCount);
+
+        solveL1Straight(L, bArray, bPos, rowCount, rowSkip, b_stride);
+        scaleLargeVector(bArray, bPos, dArray, dPos, rowCount, b_stride, d_stride);
+        solveL1Transposed(L, bArray, bPos, rowCount, rowSkip, b_stride);
+    }
+
+}
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastLSolve.java b/core/src/main/java/org/ode4j/ode/internal/FastLSolve.java
index 6bd8f079..75f039f5 100644
--- a/core/src/main/java/org/ode4j/ode/internal/FastLSolve.java
+++ b/core/src/main/java/org/ode4j/ode/internal/FastLSolve.java
@@ -43,9 +43,9 @@ public class FastLSolve {
      * if this is in the factorizer source file, n must be a multiple of 4.
      */
     //template<unsigned int b_stride>
-    public static void dxtSolveL1 (final double[] L, double[] B, final int BPos, int rowCount, int rowSkip, int b_stride)
+    public static void solveL1Straight (final double[] L, double[] B, final int BPos, int rowCount, int rowSkip, int b_stride)
     {
-        int LPos = 0;
+        final int LPos = 0;
         dIASSERT(rowCount != 0);
 
         /* compute all 4 x 1 blocks of X */
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastLTSolve.java b/core/src/main/java/org/ode4j/ode/internal/FastLTSolve.java
index cb3c66f5..6afed4fc 100644
--- a/core/src/main/java/org/ode4j/ode/internal/FastLTSolve.java
+++ b/core/src/main/java/org/ode4j/ode/internal/FastLTSolve.java
@@ -40,7 +40,7 @@ public class FastLTSolve {
      * this processes blocks of 4.
      */
     //template<unsigned int b_stride>
-    public static void dxtSolveL1T(final double[] L, double[] B, int BPos, int rowCount, int rowSkip, int b_stride)
+    public static void solveL1Transposed(final double[] L, double[] B, int BPos, int rowCount, int rowSkip, int b_stride)
     {
         int LPos = 0;
         dIASSERT(rowCount != 0);
diff --git a/core/src/main/java/org/ode4j/ode/internal/FastVecScale.java b/core/src/main/java/org/ode4j/ode/internal/FastVecScale.java
new file mode 100644
index 00000000..d13ea1b6
--- /dev/null
+++ b/core/src/main/java/org/ode4j/ode/internal/FastVecScale.java
@@ -0,0 +1,89 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2021 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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.                     *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.ode.internal;
+
+
+import static org.ode4j.ode.internal.Common.dAASSERT;
+
+public class FastVecScale {
+
+    //    #ifndef _ODE_FASTVECSCALE_IMPL_H_
+    //    #define _ODE_FASTVECSCALE_IMPL_H_
+
+
+
+    // matrix_impl.h
+
+    //	template<unsigned int a_stride, unsigned int d_stride>
+    //	void scaleLargeVector (dReal *aStart, const dReal *dStart, unsigned elementCount)
+    public static void scaleLargeVector(double[] A, final int aStart, final double[] D, int dStart, int elementCount, int a_stride, int d_stride) {
+        dAASSERT(aStart >= 0 && dStart >= 0 && elementCount >= 0);
+
+        final int step = 4;
+        //		dReal *ptrA = aStart;
+        //    const dReal *ptrD = dStart;
+        //    const dReal *const dStepsEnd = dStart + (size_t)(elementCount & ~(step - 1)) * d_stride;
+        int ptrA = aStart;
+        int ptrD = dStart;
+        final int dStepsEnd = dStart + (elementCount & ~(step - 1)) * d_stride;
+
+        for (; ptrD != dStepsEnd; ptrA += step * a_stride, ptrD += step * d_stride) {
+            double a0 = A[ptrA + 0], a1 = A[ptrA + 1 * a_stride], a2 = A[ptrA + 2 * a_stride], a3 = A[ptrA + 3 * a_stride];
+            double d0 = D[ptrD + 0], d1 = D[ptrD + 1 * d_stride], d2 = D[ptrD + 2 * d_stride], d3 = D[ptrD + 3 * d_stride];
+            a0 *= d0;
+            a1 *= d1;
+            a2 *= d2;
+            a3 *= d3;
+            A[ptrA + 0] = a0;
+            A[ptrA + 1 * a_stride] = a1;
+            A[ptrA + 2 * a_stride] = a2;
+            A[ptrA + 3 * a_stride] = a3;
+            //dSASSERT(step == 4);
+        }
+
+        switch (elementCount & (step - 1)) {
+            case 3: {
+                double a2 = A[ptrA + 2 * a_stride];
+                double d2 = D[ptrD + 2 * d_stride];
+                A[ptrA + 2 * a_stride] = a2 * d2;
+                // break; -- proceed to case 2
+            }
+
+            case 2: {
+                double a1 = A[ptrA + 1 * a_stride];
+                double d1 = D[ptrD + 1 * d_stride];
+                A[ptrA + 1 * a_stride] = a1 * d1;
+                // break; -- proceed to case 1
+            }
+
+            case 1: {
+                double a0 = A[ptrA + 0];
+                double d0 = D[ptrD + 0];
+                A[ptrA + 0] = a0 * d0;
+                break;
+            }
+        }
+    }
+
+}
diff --git a/core/src/main/java/org/ode4j/ode/internal/Matrix.java b/core/src/main/java/org/ode4j/ode/internal/Matrix.java
index 814f8036..c9aaafcf 100644
--- a/core/src/main/java/org/ode4j/ode/internal/Matrix.java
+++ b/core/src/main/java/org/ode4j/ode/internal/Matrix.java
@@ -24,8 +24,9 @@
  *************************************************************************/
 package org.ode4j.ode.internal;
 
-import static org.ode4j.ode.internal.FastLSolve.dxtSolveL1;
-import static org.ode4j.ode.internal.FastLTSolve.dxtSolveL1T;
+import static org.ode4j.ode.internal.FastLDLTSolve.solveEquationSystemWithLDLT;
+import static org.ode4j.ode.internal.FastLSolve.solveL1Straight;
+import static org.ode4j.ode.internal.FastLTSolve.solveL1Transposed;
 import static org.ode4j.ode.internal.cpp4j.Cstring.memcpy;
 import static org.ode4j.ode.internal.cpp4j.Cstring.memmove;
 
@@ -348,8 +349,7 @@ public static void dMultiply1(double[] A, final double[] B,
 	 * @param B B
 	 * @param C C
 	 */
-	public static void dMultiply2(DMatrix3 A, final DMatrix3C B,
-			final DMatrix3C C) {
+	public static void dMultiply2(DMatrix3 A, final DMatrix3C B, final DMatrix3C C) {
 		//dMultiply2(A.v, ((DMatrix3) B).v, ((DMatrix3) C).v, 3, 3, 3);
 		dMultiply0(A, B, C.reTranspose());
 	}
@@ -368,8 +368,7 @@ public static void dMultiply2(DMatrix3 A, final DMatrix3C B,
 	 * @param B B
 	 * @param C C
 	 */
-	public static void dMultiply2(DVector3 A, final DMatrix3C B,
-			final DVector3C C) {
+	public static void dMultiply2(DVector3 A, final DMatrix3C B, final DVector3C C) {
 		//dMultiply2(A.v, ((DMatrix3) B).v, ((DVector3) C).v, 3, 3, 1);
 		//TZ: this is equal to dMultiply0(...) !!!
 		A.set0( B.get00()*C.get0() + B.get01()*C.get1() + B.get02()*C.get2() );
@@ -393,8 +392,7 @@ public static void dMultiply2(DVector3 A, final DMatrix3C B,
 	 * @param r r
 	 * 
 	 */
-	public static void dMultiply2(double[] A, final double[] B,
-			final double[] C, int p, int q, int r) {
+	public static void dMultiply2(double[] A, final double[] B, final double[] C, int p, int q, int r) {
 	    dAASSERT(p > 0 && q > 0 && r > 0);
 	    final int rskip = dPAD(r);
 	    final int qskip = dPAD(q);
@@ -412,37 +410,6 @@ public static void dMultiply2(double[] A, final double[] B,
 	            A[a] = sum;//(*a) = sum; 
 	        }
 	    }
-	    //TODO remove is from 0.11.1
-//		int i, j, k, z, rpad, qskip;
-//		double sum;
-//		// final double[] bb,cc;
-//		// TZ:
-//		int aPos = 0, bPos, cPos;
-//		// dAASSERT (A, B , C);
-//		dAASSERT(p > 0 && q > 0 && r > 0);
-//		rpad = dPAD(r) - r;
-//		qskip = dPAD(q);
-//		// bb = B;
-//		bPos = 0;
-//		for (i = p; i > 0; i--) {
-//			// cc = C;
-//			cPos = 0;
-//			for (j = r; j > 0; j--) {
-//				z = 0;
-//				sum = 0;
-//				// for (k=q; k>0; k--,z++) sum += bb[z] * cc[z];
-//				for (k = q; k > 0; k--, z++)
-//					sum += B[bPos + z] * C[cPos + z];
-//				// *(A++) = sum;
-//				A[aPos++] = sum;
-//				// cc += qskip;
-//				cPos += qskip;
-//			}
-//			// A += rpad;
-//			aPos += rpad;
-//			// bb += qskip;
-//			bPos += qskip;
-//		}
 	}
 
 	/**
@@ -713,18 +680,6 @@ public static boolean dIsPositiveDefinite(DMatrix3C A) {
 		return dFactorCholesky(A.clone());
 	}
 
-//	/**
-//	 * this has been replaced by a faster version void dSolveL1T (const double
-//	 * *L, double *b, int n, int nskip) { int i,j; dAASSERT (L && b && n >= 0 &&
-//	 * nskip >= n); double sum; for (i=n-2; i>=0; i--) { sum = 0; for (j=i+1;
-//	 * j<n; j++) sum += L[j*nskip+i]*b[j]; b[i] -= sum; } }
-//	 */
-
-	/** in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
-	private static void dVectorScale(double[] a, final double[] d, int n) {
-		dxtVectorScale (a, 0, d, 0, n, 1, 1);
-	}
-
 	/**
 	 * given `L', a n*n lower triangular matrix with ones on the diagonal, and
 	 * `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix D,
@@ -740,7 +695,9 @@ public static void dSolveLDLT(final double[] L, final double[] d,
 			double[] b, int n, int nskip) {
 		dIASSERT(n != 0);
 
-		dxtSolveLDLT(L, d, 0, b, 0, n, nskip, 1, 1);
+		if (n != 0) {
+			solveEquationSystemWithLDLT(L, d, 0, b, 0, n, nskip, 1, 1);
+		}
 	}
 
 	/**
@@ -951,6 +908,7 @@ public static void dLDLTRemove(double[] A, final int[] p, double[] L,
 		        }
 		        a[0] += (1.0);
 				dLDLTAddTL(L, (nskip + 1) * r, d, r, a, n2 - r, nskip, null);
+
 		    }
 		}
 //		        double[] a = new double[n2 - r]; // TZ (double*) ALLOCA ((n2-r) * sizeof(double));
@@ -1095,13 +1053,6 @@ public static boolean dInvertPDMatrix (final double[] A, double[] Ainv, int n)
 
 
 
-	static void dxSolveL1(final double[] L, double[] b, int n, int lskip1)
-	{
-		dIASSERT(n != 0);
-
-		dxtSolveL1(L, b, 0, n, lskip1, 1);
-	}
-
 	public static void dSolveL1(final double[] L, double[] B, int n, int lskip1)
 	{
 		dAASSERT(n != 0);
@@ -1111,25 +1062,20 @@ public static void dSolveL1(final double[] L, double[] B, int n, int lskip1)
 			dAASSERT(L != null);
 			dAASSERT(B != null);
 
-			dxSolveL1(L, B, n, lskip1);
+			solveL1Straight(L, B, 0, n, lskip1, 1);
 		}
 	}
 
-	static void dxSolveL1T(final double[] L, double[] b, int n, int lskip1)
+	public static void dSolveL1T (final double[] L, double[] B, int rowCount, int rowSkip)
 	{
-		dxtSolveL1T(L, b, 0, n, lskip1, 1);
-	}
+		dAASSERT(rowCount != 0);
 
-	public static void dSolveL1T (final double[] L, double[] B, int n, int lskip1)
-	{
-		dAASSERT(n != 0);
-
-		if (n != 0)
+		if (rowCount != 0)
 		{
 			dAASSERT(L != null);
 			dAASSERT(B != null);
 
-			dxSolveL1T(L, B, n, lskip1);
+			solveL1Transposed(L, B, 0, rowCount, rowSkip, 1);
 		}
 	}
 
@@ -1145,7 +1091,7 @@ public static void dSolveL1T (final double[] L, double[] B, int n, int lskip1)
 	 * @param nskip1 nskip 
 	 */
 	public static void dFactorLDLT(double[] A, double[] d, int n, int nskip1) {
-		FastLDLT.dxtFactorLDLT(A, d, n, nskip1, 1);
+		FastLDLTFactor.factorMatrixAsLDLT(A, d, n, nskip1, 1);
 	}
 	
 	private static int _dEstimateFactorCholeskyTmpbufSize(int n)
@@ -1188,75 +1134,6 @@ private static int _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
 	public static int dEstimateLDLTAddTLTmpbufSize(int nskip) { return _dEstimateLDLTAddTLTmpbufSize(nskip); }
 	public static int dEstimateLDLTRemoveTmpbufSize(int n2, int nskip) { return _dEstimateLDLTRemoveTmpbufSize(n2, nskip); }
 
-
-	// matrix_impl.h
-
-	//	template<unsigned int a_stride, unsigned int d_stride>
-	//	void dxtVectorScale (dReal *aStart, const dReal *dStart, unsigned elementCount)
-	public static void dxtVectorScale(double[] A, final int aStart, final double[] D, int dStart, int elementCount, int a_stride, int d_stride) {
-		dAASSERT(aStart >= 0 && dStart >= 0 && elementCount >= 0);
-
-		final int step = 4;
-		//		dReal *ptrA = aStart;
-		//    const dReal *ptrD = dStart;
-		//    const dReal *const dStepsEnd = dStart + (size_t)(elementCount & ~(step - 1)) * d_stride;
-		int ptrA = aStart;
-		int ptrD = dStart;
-		final int dStepsEnd = dStart + (elementCount & ~(step - 1)) * d_stride;
-
-		for (; ptrD != dStepsEnd; ptrA += step * a_stride, ptrD += step * d_stride) {
-			double a0 = A[ptrA + 0], a1 = A[ptrA + 1 * a_stride], a2 = A[ptrA + 2 * a_stride], a3 = A[ptrA + 3 * a_stride];
-			double d0 = D[ptrD + 0], d1 = D[ptrD + 1 * d_stride], d2 = D[ptrD + 2 * d_stride], d3 = D[ptrD + 3 * d_stride];
-			a0 *= d0;
-			a1 *= d1;
-			a2 *= d2;
-			a3 *= d3;
-			A[ptrA + 0] = a0;
-			A[ptrA + 1 * a_stride] = a1;
-			A[ptrA + 2 * a_stride] = a2;
-			A[ptrA + 3 * a_stride] = a3;
-			//dSASSERT(step == 4);
-		}
-
-		switch (elementCount & (step - 1)) {
-			case 3: {
-				double a2 = A[ptrA + 2 * a_stride];
-				double d2 = D[ptrD + 2 * d_stride];
-				A[ptrA + 2 * a_stride] = a2 * d2;
-				// break; -- proceed to case 2
-			}
-
-			case 2: {
-				double a1 = A[ptrA + 1 * a_stride];
-				double d1 = D[ptrD + 1 * d_stride];
-				A[ptrA + 1 * a_stride] = a1 * d1;
-				// break; -- proceed to case 1
-			}
-
-			case 1: {
-				double a0 = A[ptrA + 0];
-				double d0 = D[ptrD + 0];
-				A[ptrA + 0] = a0 * d0;
-				break;
-			}
-		}
-	}
-
-
-	//	template<unsigned int d_stride, unsigned int b_stride>
-	//	void dxtSolveLDLT (const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip)
-	public static void dxtSolveLDLT(final double[] L, double[] dArray, int dPos, double[] bArray, int bPos, int rowCount, int rowSkip, int d_stride, int b_stride) {
-		dAASSERT(L != null);
-		dAASSERT(dArray != null);
-		dAASSERT(bArray != null);
-		dAASSERT(rowCount > 0);
-		dAASSERT(rowSkip >= rowCount);
-
-		dxtSolveL1(L, bArray, bPos, rowCount, rowSkip, b_stride);
-		dxtVectorScale(bArray, bPos, dArray, dPos, rowCount, b_stride, d_stride);
-		dxtSolveL1T(L, bArray, bPos, rowCount, rowSkip, b_stride);
-	}
-
 	public static double dxDot(final double[] a, final double[] b, int n) {
 		return dDot(a, b, n);
 	}
diff --git a/core/src/main/java/org/ode4j/ode/internal/Step.java b/core/src/main/java/org/ode4j/ode/internal/Step.java
index 9eea11a6..062ce09c 100644
--- a/core/src/main/java/org/ode4j/ode/internal/Step.java
+++ b/core/src/main/java/org/ode4j/ode/internal/Step.java
@@ -1582,23 +1582,14 @@ void dxStepIsland_Stage3(dxStepperStage3CallContext stage3CallContext)
 		stage3CallContext = null; // WARNING! stage3CallContext is not valid after this point!
 		dIVERIFY(stage3CallContext == null); // To suppress unused variable assignment warnings
 
-		double[] invI = localContext.m_invI;
-		dJointWithInfo1[] jointinfosA = localContext.m_jointinfosA;
-		int jointinfosP = localContext.m_jointinfosOfs;
-		int nj = localContext.m_nj;
 		int m = localContext.m_m;
 		int nub = localContext.m_nub;
 		//const unsigned int *mindex = localContext.m_mindex;
 		int[] findex = localContext.m_findex;
-		double[] J = localContext.m_J;
 		double[] A = localContext.m_A;
 		double[] pairsRhsLambda = localContext.m_pairsRhsCfm; // Reuse cfm buffer for lambdas as the former values are not needed any more
 		double[] pairsLoHi = localContext.m_pairsLoHi;
 
-		DxBody[] bodyA = callContext.m_islandBodiesStartA();
-		int bodyP = callContext.m_islandBodiesStartOfs();
-		int nb = callContext.m_islandBodiesCount();
-
 		if (m > 0) {
 			BlockPointer lcpstate = memarena.BEGIN_STATE_SAVE();
 			{
diff --git a/core/src/main/java/org/ode4j/ode/internal/joints/DxJoint.java b/core/src/main/java/org/ode4j/ode/internal/joints/DxJoint.java
index 1a33f880..5c623322 100644
--- a/core/src/main/java/org/ode4j/ode/internal/joints/DxJoint.java
+++ b/core/src/main/java/org/ode4j/ode/internal/joints/DxJoint.java
@@ -409,6 +409,13 @@ void setBall2(DxJoint joint, double fps, double erp, int rowskip, double[] J1A,
 		dCalcVectorCross3(J1A, J1Ofs + rowskip + JointEnums.GI2__JA_MIN, a1, q1);
 		dCalcVectorCross3(J1A, J1Ofs + 2 * rowskip + JointEnums.GI2__JA_MIN, a1, q2);
 
+		DxBody b0 = node[0].body;
+		dAddVectors3(a1, a1, b0.posr().pos());
+
+		// set right hand side - measure error along (axis,q1,q2)
+		double k1 = fps * erp1;
+		double k = fps * erp;
+
 		DxBody b1 = joint.node[1].body;
 		if (b1 != null) {
 			dCopyNegatedVector3(J2A, J2Ofs + JointEnums.GI2__JL_MIN, axis);
@@ -422,16 +429,7 @@ void setBall2(DxJoint joint, double fps, double erp, int rowskip, double[] J1A,
 			dCalcVectorCross3(J2A, J2Ofs + 2 * rowskip + JointEnums.GI2__JA_MIN, q2, a2); //== dCalcVectorCross3( J2 +
 			// 2 * rowskip + JointEnums.GI2__J2A_MIN, a2, q2 ); dNegateVector3( J2 + 2 * rowskip + JointEnums
 			// .GI2__J2A_MIN );
-		}
 
-		// set right hand side - measure error along (axis,q1,q2)
-		double k1 = fps * erp1;
-		double k = fps * erp;
-
-		DxBody b0 = joint.node[0].body;
-		dAddVectors3(a1, a1, b0.posr().pos());
-
-		if (b1 != null) {
 			dAddVectors3(a2, a2, b1.posr().pos());
 
 			DVector3 a2_minus_a1 = new DVector3();
@@ -788,7 +786,7 @@ public void dJointAttach (DBody b1, DBody b2)
 
 		// check if the joint can not be attached to just one body
 		dUASSERT (!((flags & dJOINT_TWOBODIES) != 0 &&
-				((body1 != null) ^ (body2 != null))),
+				((body1 != null) != (body2 != null))),
 				"joint can not be attached to just one body");
 
 		// remove any existing body attachments
diff --git a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointContact.java b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointContact.java
index 57dfa4ba..774e56dc 100644
--- a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointContact.java
+++ b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointContact.java
@@ -80,40 +80,69 @@ void getSureMaxInfo( SureMaxInfo info )
 		// make sure mu's >= 0, then calculate number of constraint rows and number
 		// of unbounded rows.
 		int m = 1, nub = 0;
-	    boolean roll = (contact.surface.mode&OdeConstants.dContactRolling)!=0;
-	    
-		if ( contact.surface.mu < 0 ) contact.surface.mu = 0;
-
-	    // Anisotropic sliding and rolling and spinning friction 
-	    if ( (contact.surface.mode & OdeConstants.dContactAxisDep) != 0 )
-		{
-			if ( contact.surface.mu2 < 0 ) contact.surface.mu2 = 0;
-			if ( contact.surface.mu > 0 ) m++;
-			if ( contact.surface.mu2 > 0 ) m++;
-			if ( contact.surface.mu  == dInfinity ) nub ++;
-			if ( contact.surface.mu2 == dInfinity ) nub ++;
-	        if (roll) {
-	            if ( contact.surface.rho < 0 ) contact.surface.rho = 0;
-	            else m++;
-	            if ( contact.surface.rho2 < 0 ) contact.surface.rho2 = 0;
-	            else m++;
-	            if ( contact.surface.rhoN < 0 ) contact.surface.rhoN = 0;
-	            else m++;
-
-	            if ( contact.surface.rho  == dInfinity ) nub++;
-	            if ( contact.surface.rho2 == dInfinity ) nub++;
-	            if ( contact.surface.rhoN == dInfinity ) nub++;
-	          }
+
+		// Anisotropic sliding and rolling and spinning friction
+		if ((contact.surface.mode & dContactAxisDep) != 0) {
+			if (contact.surface.mu < 0) {
+				contact.surface.mu = 0;
+			}
+			else if (contact.surface.mu > 0) {
+				if (contact.surface.mu == dInfinity) { nub++; }
+				m++;
+			}
+
+			if (contact.surface.mu2 < 0) {
+				contact.surface.mu2 = 0;
+			}
+			else if (contact.surface.mu2 > 0) {
+				if (contact.surface.mu2 == dInfinity) { nub++; }
+				m++;
+			}
+
+			if ((contact.surface.mode & dContactRolling) != 0) {
+				if (contact.surface.rho < 0) {
+					contact.surface.rho = 0;
+				}
+				else {
+					if (contact.surface.rho == dInfinity) { nub++; }
+					m++;
+				}
+
+				if (contact.surface.rho2 < 0) {
+					contact.surface.rho2 = 0;
+				}
+				else {
+					if (contact.surface.rho2 == dInfinity) { nub++; }
+					m++;
+				}
+
+				if (contact.surface.rhoN < 0) {
+					contact.surface.rhoN = 0;
+				}
+				else {
+					if (contact.surface.rhoN == dInfinity) { nub++; }
+					m++;
+				}
+			}
 		}
-		else
-		{
-			if ( contact.surface.mu > 0 ) m += 2;
-			if ( contact.surface.mu == dInfinity ) nub += 2;
-	        if (roll) {
-	            if ( contact.surface.rho < 0 ) contact.surface.rho = 0;
-	            else m+=3;
-	            if ( contact.surface.rho == dInfinity ) nub += 3;
-	          }
+		else {
+			if (contact.surface.mu < 0) {
+				contact.surface.mu = 0;
+			}
+			else if (contact.surface.mu > 0) {
+				if (contact.surface.mu == dInfinity) { nub += 2; }
+				m += 2;
+			}
+
+			if ((contact.surface.mode & dContactRolling) != 0) {
+				if (contact.surface.rho < 0) {
+					contact.surface.rho = 0;
+				}
+				else {
+					if (contact.surface.rho == dInfinity) { nub += 3; }
+					m += 3;
+				}
+			}
 		}
 
 		the_m = m;
@@ -131,33 +160,8 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 		final int ROW_NORMAL = 0;
 		final int ROW__OPTIONAL_MIN = 1;
 
-		// get normal, with sign adjusted for body1/body2 polarity
-		DVector3 normal = new DVector3();
-		if (isFlagsReverse()) {
-			dCopyNegatedVector3(normal, contact.geom.normal);
-		} else {
-			dCopyVector3(normal, contact.geom.normal);
-		}
-
-		// c1,c2 = contact points with respect to body PORs
-		DVector3 c1 = new DVector3(), c2 = new DVector3(0, 0, 0);
-
-		DxBody b0 = node[0].body;
-		dSubtractVectors3(c1, contact.geom.pos, b0.posr().pos());
-
-		// set Jacobian for normal
-		dCopyVector3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, normal);
-		dCalcVectorCross3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, c1, normal);
-
-		DxBody b1 = node[1].body;
-		if (b1 != null) {
-			dSubtractVectors3(c2, contact.geom.pos, b1.posr().pos());
-			dCopyNegatedVector3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, normal);
-			dCalcVectorCross3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, normal, c2); //== dCalcVectorCross3(
-			// J2A, J2Ofs + GI2__JA_MIN, c2, normal ); dNegateVector3( J2A, J2Ofs + GI2__JA_MIN );
-		}
-
 		final int surface_mode = contact.surface.mode;
+
 		// set right hand side and cfm value for normal
 		double erp = (surface_mode & dContactSoftERP) != 0 ? contact.surface.soft_erp : worldERP;
 		double k = worldFPS * erp;
@@ -167,28 +171,59 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 
 		double motionN = (surface_mode & dContactMotionN) != 0 ? contact.surface.motionN : 0.0;
 		final double pushout = k * depth + motionN;
+
+		boolean apply_bounce = (surface_mode & dContactBounce) != 0 && contact.surface.bounce_vel >= 0;
+		double outgoing = 0;
+
 		// note: this cap should not limit bounce velocity
 		final double maxvel = world.contactp.max_vel;
 		double c = pushout > maxvel ? maxvel : pushout;
 
-		// deal with bounce
-		if ((surface_mode & dContactBounce) != 0) {
-			// calculate outgoing velocity (-ve for incoming contact)
-			double outgoing =
-					dCalcVectorDot3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, node[0].body.lvel)
-							+ dCalcVectorDot3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, node[0].body.avel);
+		// c1,c2 = contact points with respect to body PORs
+		DVector3 c1 = new DVector3(), c2 = new DVector3();
 
-			if (b1 != null) {
-				outgoing += dCalcVectorDot3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, node[1].body.lvel)
-						+ dCalcVectorDot3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, node[1].body.avel);
+		// get normal, with sign adjusted for body1/body2 polarity
+		DVector3 normal = new DVector3();
+		if ((flags & dJOINT_REVERSE) != 0) {
+			dCopyNegatedVector3(normal, contact.geom.normal);
+		}
+		else {
+			dCopyVector3(normal, contact.geom.normal);
+		}
+
+		DxBody b1 = node[1].body;
+		if (b1 != null) {
+			dSubtractVectors3(c2, contact.geom.pos, b1.posr().pos());
+			// set Jacobian for b1 normal
+			dCopyNegatedVector3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, normal);
+			dCalcVectorCross3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, normal, c2); //== dCalcVectorCross3( J2 + GI2__JA_MIN, c2, normal ); dNegateVector3( J2 + GI2__JA_MIN );
+			if (apply_bounce) {
+				outgoing /*+*/= dCalcVectorDot3(J2A, J2Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, node[1].body.avel)
+				- dCalcVectorDot3(normal, node[1].body.lvel);
 			}
+		}
+
+		DxBody b0 = node[0].body;
+		dSubtractVectors3(c1, contact.geom.pos, b0.posr().pos());
+		// set Jacobian for b0 normal
+		dCopyVector3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JL_MIN, normal);
+		dCalcVectorCross3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, c1, normal);
+		if (apply_bounce) {
+			// calculate outgoing velocity (-ve for incoming contact)
+			outgoing += dCalcVectorDot3(J1A, J1Ofs + ROW_NORMAL * rowskip + GI2__JA_MIN, node[0].body.avel)
+			+ dCalcVectorDot3(normal, node[0].body.lvel);
+		}
 
-			outgoing -= motionN;
+		// deal with bounce
+		if (apply_bounce) {
+			double negated_outgoing = motionN - outgoing;
 			// only apply bounce if the outgoing velocity is greater than the
 			// threshold, and if the resulting c[rowNormal] exceeds what we already have.
-			if (contact.surface.bounce_vel >= 0 && (-outgoing) > contact.surface.bounce_vel) {
-				final double newc = -contact.surface.bounce * outgoing + motionN;
-				if (newc > c) c = newc;
+			dIASSERT(contact.surface.bounce_vel >= 0);
+			if (/*contact.surface.bounce_vel >= 0 &&*/
+					negated_outgoing > contact.surface.bounce_vel) {
+            final double newc = contact.surface.bounce * negated_outgoing + motionN;
+				if (newc > c) { c = newc; }
 			}
 		}
 
@@ -218,7 +253,9 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 			int currRowSkip = row * rowskip, currPairSkip = row * pairskip;
 
 			// first friction direction
-			if (contact.surface.mu > 0) {
+      		final double mu = contact.surface.mu;
+
+			if (mu > 0) {
 				dCopyVector3(J1A, J1Ofs + currRowSkip + GI2__JL_MIN, t1);
 				dCalcVectorCross3(J1A, J1Ofs + currRowSkip + GI2__JA_MIN, c1, t1);
 
@@ -239,8 +276,8 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 
 				// set LCP bounds and friction index. this depends on the approximation
 				// mode
-				pairLoHiA[pairLoHiOfs + currPairSkip + GI2_LO] = -contact.surface.mu;
-				pairLoHiA[pairLoHiOfs + currPairSkip + GI2_HI] = contact.surface.mu;
+				pairLoHiA[pairLoHiOfs + currPairSkip + GI2_LO] = -mu;
+				pairLoHiA[pairLoHiOfs + currPairSkip + GI2_HI] = mu;
 
 				if ((surface_mode & dContactApprox1_1) != 0) {
 					findexA[findexOfs + row] = 0;
@@ -251,9 +288,8 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 				currPairSkip += pairskip;
 			}
 
-			final double mu2 = (surface_mode & dContactMu2) != 0 ? contact.surface.mu2 : contact.surface.mu;
-
 			// second friction direction
+			final double mu2 = (surface_mode & dContactMu2) != 0 ? contact.surface.mu2 : mu;
 			if (mu2 > 0) {
 				dCopyVector3(J1A, J1Ofs + currRowSkip + GI2__JL_MIN, t2);
 				dCalcVectorCross3(J1A, J1Ofs + currRowSkip + GI2__JA_MIN, c1, t2);
@@ -289,6 +325,15 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 
 			// Handle rolling/spinning friction
 			if ((surface_mode & dContactRolling) != 0) {
+
+				DVector3C[] ax = {
+						t1, // Rolling around t1 creates movement parallel to t2
+						t2,
+						normal // Spinning axis
+				};
+
+				final int[] approx_bits = { dContactApprox1_1, dContactApprox1_2, dContactApprox1_N };
+
 				// Get the coefficients
 				double[] rho = new double[3];
 				rho[0] = contact.surface.rho;
@@ -300,17 +345,6 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 					rho[2] = rho[0];
 				}
 
-				final DVector3C[] ax = new DVector3[3];
-				ax[0] = t1; // Rolling around t1 creates movement parallel to t2
-				ax[1] = t2;
-				ax[2] = normal; // Spinning axis
-
-				// Should we use proportional force?
-				boolean[] approx = new boolean[3];
-				approx[0] = (surface_mode & dContactApprox1_1) != 0;
-				approx[1] = (surface_mode & dContactApprox1_2) != 0;
-				approx[2] = (surface_mode & dContactApprox1_N) != 0;
-
 				for (int i = 0; i != 3; ++i) {
 					if (rho[i] > 0) {
 						// Set the angular axis
@@ -324,8 +358,9 @@ public void getInfo2(double worldFPS, double worldERP, int rowskip, double[] J1A
 						pairLoHiA[pairLoHiOfs + currPairSkip + GI2_LO] = -rho[i];
 						pairLoHiA[pairLoHiOfs + currPairSkip + GI2_HI] = rho[i];
 
-						// Make limits proportional to normal force
-						if (approx[i]) {
+						// Should we use proportional force?
+						if ((surface_mode & approx_bits[i]) != 0) {
+							// Make limits proportional to normal force
 							findexA[findexOfs + row] = 0;
 						}
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointHinge2.java b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointHinge2.java
index ec18a188..8687b70d 100644
--- a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointHinge2.java
+++ b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointHinge2.java
@@ -392,6 +392,12 @@ private void dJointGetHinge2Axis1( DVector3 result )
 		{
 			dMultiply0_331( result, node[0].body.posr().R(), _axis1 );
 		}
+		else
+		{
+			// dZeroVector3(result);
+			result.setZero();
+			dUASSERT( false, "the joint does not have first body attached" );
+		}
 	}
 
 
@@ -402,6 +408,12 @@ private void dJointGetHinge2Axis2( DVector3 result )
 		{
 			dMultiply0_331( result, node[1].body.posr().R(), _axis2 );
 		}
+		else
+		{
+			// dZeroVector3(result);
+			result.setZero();
+			dUASSERT( false, "the joint does not have second body attached" );
+		}
 	}
 
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointPU.java b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointPU.java
index 63c7bbd7..795a07e4 100644
--- a/core/src/main/java/org/ode4j/ode/internal/joints/DxJointPU.java
+++ b/core/src/main/java/org/ode4j/ode/internal/joints/DxJointPU.java
@@ -208,6 +208,10 @@ public double dJointGetPUPositionRate()
 			if ( node[1].body!=null )
 			{
 				// Find joint->anchor2 in global coordinates
+
+				// NOTE! anchor2 needs a volatile assignment on the multiplication to discard computation errors.
+				// Otherwise, tests fail for single type on x86.
+				// dxTruncToType::dMultiply0_331(anchor2, joint->node[1].body->posr.R, joint->anchor2);
 				dMultiply0_331( anchor2, node[1].body.posr().R(), _anchor2 );
 
 				//				r.v[0] = ( node[0].body._posr.pos.v[0] -
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCD.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCD.java
index feb15e65..d9415dfb 100644
--- a/core/src/main/java/org/ode4j/ode/internal/libccd/CCD.java
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCD.java
@@ -26,6 +26,7 @@
 import org.ode4j.ode.internal.libccd.CCDSimplex.ccd_simplex_t;
 import org.ode4j.ode.internal.libccd.CCDVec3.ccd_vec3_t;
 
+import static org.ode4j.ode.internal.libccd.CCDCustomVec3.ccdVec3SafeNormalize;
 import static org.ode4j.ode.internal.libccd.CCDPolyTope.*;
 import static org.ode4j.ode.internal.libccd.CCDSimplex.*;
 import static org.ode4j.ode.internal.libccd.CCDSupport.*;
@@ -242,7 +243,7 @@ public static int ccdGJKPenetration(final Object obj1, final Object obj2, final
 			RefDouble depth, ccd_vec3_t dir, ccd_vec3_t pos)
 	{
 		ccd_pt_t polytope = new ccd_pt_t();
-		final Ref<ccd_pt_el_t<?>> nearestRef = new Ref<CCDPolyTope.ccd_pt_el_t<?>>();
+		final Ref<ccd_pt_el_t<?>> nearestRef = new Ref<>();
 		int ret;
 
 		ccdPtInit(polytope);
@@ -251,15 +252,16 @@ public static int ccdGJKPenetration(final Object obj1, final Object obj2, final
 
 		// set separation vector
 		if (ret == 0 && nearestRef.get() != null){
-			// compute depth of penetration
-			depth.set( CCD_SQRT(nearestRef.get().dist) );
-
 			// store normalized direction vector
 			ccdVec3Copy(dir, nearestRef.get().witness);
-			ccdVec3Normalize(dir);
+			ret = ccdVec3SafeNormalize(dir);
 
-			// compute position
-			penEPAPos(polytope, nearestRef.get(), pos);
+			if (ret == 0) {
+				// compute depth of penetration
+            	depth.d = CCD_SQRT(nearestRef.get().dist);
+				// compute position
+				penEPAPos(polytope, nearestRef.get(), pos);
+			}
 		}
 
 		ccdPtDestroy(polytope);
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomQuat.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomQuat.java
new file mode 100644
index 00000000..50479a92
--- /dev/null
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomQuat.java
@@ -0,0 +1,59 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ * Java-port: Copyright (c) 2009-2014 Tilmann Zaeschke<ode4j@gmx.de>  
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+package org.ode4j.ode.internal.libccd;
+
+import static org.ode4j.ode.internal.libccd.CCDQuat.*;
+import static org.ode4j.ode.internal.libccd.CCDVec3.*;
+
+public class CCDCustomQuat {
+
+    /**
+     * Rotate vector s by quaternion q and put result into d.
+     */
+    // _ccd_inline void ccdQuatRotVec2(ccd_vec3_t *d, const ccd_vec3_t *s, const ccd_quat_t *q);
+    public static void ccdQuatRotVec2(ccd_vec3_t d, final ccd_vec3_t s, final ccd_quat_t q) {
+//#ifndef dLIBCCD_USE_SYSTEM
+//		// original version: 31 mul + 21 add
+//		// optimized version: 18 mul + 12 add
+//		// formula: d = s + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * s)
+//		ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
+//		ccd_real_t x, y, z, w;
+//		ccd_real_t vx, vy, vz;
+//
+//		vx = ccdVec3X(s);
+//		vy = ccdVec3Y(s);
+//		vz = ccdVec3Z(s);
+//
+//		w = q->q[3];
+//		x = q->q[0];
+//		y = q->q[1];
+//		z = q->q[2];
+//
+//		cross1_x = y * vz - z * vy + w * vx;
+//		cross1_y = z * vx - x * vz + w * vy;
+//		cross1_z = x * vy - y * vx + w * vz;
+//		cross2_x = y * cross1_z - z * cross1_y;
+//		cross2_y = z * cross1_x - x * cross1_z;
+//		cross2_z = x * cross1_y - y * cross1_x;
+//		ccdVec3Set(d, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
+//#else
+        ccdVec3Copy(d, s);
+        ccdQuatRotVec(d, q);
+//#endif
+    }
+}
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomVec3.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomVec3.java
new file mode 100644
index 00000000..7f245fe8
--- /dev/null
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDCustomVec3.java
@@ -0,0 +1,86 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
+ * Java-port: Copyright (c) 2009-2014 Tilmann Zaeschke<ode4j@gmx.de>  
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+package org.ode4j.ode.internal.libccd;
+
+import static org.ode4j.ode.internal.libccd.CCDVec3.*;
+
+public class CCDCustomVec3 {
+
+    // # define CCD_ATAN2(x, y) (atan2((x), (y))) /*!< atan2 of two floats */
+    public static double CCD_ATAN2(double x, double y) {
+        return Math.atan2(x, y);
+    }
+
+    /**
+     * d = v + w
+     */
+    public static void ccdVec3Add2(ccd_vec3_t d, final ccd_vec3_t v, final ccd_vec3_t w) {
+//#ifndef dLIBCCD_USE_SYSTEM
+//			d->v[0] = v->v[0] + w->v[0];
+//			d->v[1] = v->v[1] + w->v[1];
+//			d->v[2] = v->v[2] + w->v[2];
+//#else
+        ccdVec3Copy(d, v);
+        ccdVec3Add(d, w);
+//#endif
+    }
+
+    /**
+     * d = s * k;
+     */
+    public static void ccdVec3CopyScaled(ccd_vec3_t d, final ccd_vec3_t s, double k) {
+//#ifndef dLIBCCD_USE_SYSTEM
+//			d->v[0] = s->v[0] * k;
+//			d->v[1] = s->v[1] * k;
+//			d->v[2] = s->v[2] * k;
+//#else
+        ccdVec3Copy(d, s);
+        ccdVec3Scale(d, k);
+//#endif
+    }
+
+    /**
+     * d = v + s * k;
+     */
+    public static void ccdVec3AddScaled(ccd_vec3_t d, final ccd_vec3_t v, final ccd_vec3_t s, double k) {
+//#ifndef dLIBCCD_USE_SYSTEM
+//			d->v[0] = v->v[0] + s->v[0] * k;
+//			d->v[1] = v->v[1] + s->v[1] * k;
+//			d->v[2] = v->v[2] + s->v[2] * k;
+//#else
+        ccdVec3Copy(d, s);
+        ccdVec3Scale(d, k);
+        ccdVec3Add(d, v);
+//#endif
+    }
+
+    /**
+     * Normalizes given vector to unit length.
+     */
+    public static int ccdVec3SafeNormalize(ccd_vec3_t d) {
+        int result = -1;
+
+        double len = CCD_SQRT(ccdVec3Len2(d));
+        if (len >= CCD_EPS) {
+            ccdVec3Scale(d, CCD_ONE / len);
+            result = 0;
+        }
+
+        return result;
+    }
+}
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDMPR.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDMPR.java
index d6433d07..036bff51 100644
--- a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDMPR.java
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDMPR.java
@@ -20,6 +20,7 @@
 import org.ode4j.ode.internal.cpp4j.java.RefDouble;
 import org.ode4j.ode.internal.libccd.CCD.ccd_t;
 
+import static org.ode4j.ode.internal.libccd.CCDCustomVec3.ccdVec3SafeNormalize;
 import static org.ode4j.ode.internal.libccd.CCDSimplex.*;
 import static org.ode4j.ode.internal.libccd.CCDSupport.*;
 import static org.ode4j.ode.internal.libccd.CCDVec3.*;
@@ -86,22 +87,27 @@ public static int ccdMPRPenetration(final Object obj1, final Object obj2, final
 	        // Origin isn't inside portal - no collision.
 	        return -1;
 
-	    }else if (res == 1){
+	    } else if (res == 1) {
 	        // Touching contact on portal's v1.
 	        findPenetrTouch(obj1, obj2, ccd, portal, depth, dir, pos);
 
-	    }else if (res == 2){
+	    } else if (res == 2) {
 	        // Origin lies on v0-v1 segment.
-	        findPenetrSegment(obj1, obj2, ccd, portal, depth, dir, pos);
+	        if (findPenetrSegment(obj1, obj2, ccd, portal, depth, dir, pos) != 0) {
+				return -1;
+			}
 
-	    }else if (res == 0){
+	    } else if (res == 0) {
 	        // Phase 2: Portal refinement
 	        res = refinePortal(obj1, obj2, ccd, portal);
-	        if (res < 0)
-	            return -1;
+	        if (res < 0) {
+				return -1;
+			}
 
 	        // Phase 3. Penetration info
-	        findPenetr(obj1, obj2, ccd, portal, depth, dir, pos);
+	        if (findPenetr(obj1, obj2, ccd, portal, depth, dir, pos) != 0) {
+				return -1;
+			}
 	    }
 
 	    return 0;
@@ -152,8 +158,10 @@ private static int discoverPortal(final Object obj1, final Object obj2,
 	    // vertex 1 = support in direction of origin
 	    ccdVec3Copy(dir, ccdSimplexPoint0(portal).v);
 	    ccdVec3Scale(dir, (-1.));
-	    ccdVec3Normalize(dir);
-	    __ccdSupport(obj1, obj2, dir, ccd, ccdSimplexPointW1(portal));
+		if (ccdVec3SafeNormalize(dir) != 0) {
+			return -1;
+		}
+		__ccdSupport(obj1, obj2, dir, ccd, ccdSimplexPointW1(portal));
 	    ccdSimplexSetSize(portal,2);
 
 	    // test if origin isn't outside of v1
@@ -175,11 +183,14 @@ private static int discoverPortal(final Object obj1, final Object obj2,
 	        }
 	    }
 
-	    ccdVec3Normalize(dir);
+		if (ccdVec3SafeNormalize(dir) != 0) {
+			return -1;
+		}
 	    __ccdSupport(obj1, obj2, dir, ccd, ccdSimplexPointW2(portal));
 	    dot = ccdVec3Dot(ccdSimplexPoint2(portal).v, dir);
-	    if (ccdIsZero(dot) || dot < CCD_ZERO)
-	        return -1;
+	    if (ccdIsZero(dot) || dot < CCD_ZERO) {
+			return -1;
+		}
 
 	    ccdSimplexSetSize(portal, 3);
 
@@ -189,7 +200,9 @@ private static int discoverPortal(final Object obj1, final Object obj2,
 	    ccdVec3Sub2(vb, ccdSimplexPoint2(portal).v,
 	                     ccdSimplexPoint0(portal).v);
 	    ccdVec3Cross(dir, va, vb);
-	    ccdVec3Normalize(dir);
+		if (ccdVec3SafeNormalize(dir) != 0) {
+			return -1;
+		}
 
 	    // it is better to form portal faces to be oriented "outside" origin
 	    dot = ccdVec3Dot(dir, ccdSimplexPoint0(portal).v);
@@ -201,8 +214,9 @@ private static int discoverPortal(final Object obj1, final Object obj2,
 	    while (ccdSimplexSize(portal) < 4){
 	        __ccdSupport(obj1, obj2, dir, ccd, ccdSimplexPointW3(portal));
 	        dot = ccdVec3Dot(ccdSimplexPoint3(portal).v, dir);
-	        if (ccdIsZero(dot) || dot < CCD_ZERO)
-	            return -1;
+	        if (ccdIsZero(dot) || dot < CCD_ZERO) {
+				return -1;
+			}
 
 	        cont = 0;
 
@@ -234,8 +248,10 @@ private static int discoverPortal(final Object obj1, final Object obj2,
 	            ccdVec3Sub2(vb, ccdSimplexPoint2(portal).v,
 	                             ccdSimplexPoint0(portal).v);
 	            ccdVec3Cross(dir, va, vb);
-	            ccdVec3Normalize(dir);
-	        }else{
+				if (ccdVec3SafeNormalize(dir) != 0) {
+					return -1;
+				}
+	        } else {
 	            ccdSimplexSetSize(portal, 4);
 	        }
 	    }
@@ -255,7 +271,9 @@ private static int refinePortal(final Object obj1, final Object obj2,
 	    while (true){
 	        // compute direction outside the portal (from v0 throught v1,v2,v3
 	        // face)
-	        portalDir(portal, dir);
+			if (portalDir(portal, dir) != 0) {
+				return -1;
+			}
 
 	        // test if origin is inside the portal
 	        if (portalEncapsulesOrigin(portal, dir))
@@ -282,7 +300,7 @@ private static int refinePortal(final Object obj1, final Object obj2,
 
 	
 	/** Finds penetration info by expanding provided portal. */
-	private static void findPenetr(final Object obj1, final Object obj2, final ccd_t ccd,
+	private static int findPenetr(final Object obj1, final Object obj2, final ccd_t ccd,
 	                       ccd_simplex_t portal,
 	                       RefDouble depth, ccd_vec3_t pdir, ccd_vec3_t pos)
 	{
@@ -293,8 +311,11 @@ private static void findPenetr(final Object obj1, final Object obj2, final ccd_t
 	    iterations = 0L;
 	    while (true){
 	        // compute portal direction and obtain next support point
-	        portalDir(portal, dir);
-	        __ccdSupport(obj1, obj2, dir, ccd, v4);
+			if (portalDir(portal, dir) != 0) {
+				return -1;
+			}
+
+			__ccdSupport(obj1, obj2, dir, ccd, v4);
 
 	        // reached tolerance . find penetration info
 	        if (portalReachTolerance(portal, v4, dir, ccd)
@@ -305,12 +326,16 @@ private static void findPenetr(final Object obj1, final Object obj2, final ccd_t
 	                                          ccdSimplexPoint3(portal).v,
 	                                          pdir));
 	            depth.set( CCD_SQRT(depth.get()));
-	            ccdVec3Normalize(pdir);
+				if (ccdVec3SafeNormalize(pdir) != 0) {
+					return -1;
+				}
 
 	            // barycentric coordinates:
-	            findPos(obj1, obj2, ccd, portal, pos);
+				if (findPos(obj1, obj2, ccd, portal, pos) != 0) {
+					return -1;
+				}
 
-	            return;
+				return 0;
 	        }
 
 	        expandPortal(portal, v4);
@@ -336,7 +361,7 @@ private static void findPenetrTouch(final Object obj1, final Object obj2, final
 	}
 
 	/** Find penetration info if origin lies on portal's segment v0-v1 */
-	private static void findPenetrSegment(final Object obj1, final Object obj2, final ccd_t ccd,
+	private static int findPenetrSegment(final Object obj1, final Object obj2, final ccd_t ccd,
 	                              ccd_simplex_t portal,
 	                              RefDouble depth, ccd_vec3_t dir, ccd_vec3_t pos)
 	{
@@ -364,13 +389,16 @@ private static void findPenetrSegment(final Object obj1, final Object obj2, fina
 
 	    ccdVec3Copy(dir, ccdSimplexPoint1(portal).v);
 	    depth.set( CCD_SQRT(ccdVec3Len2(dir)) );
-	    ccdVec3Normalize(dir);
+		if (ccdVec3SafeNormalize(dir) != 0) {
+			return -1;
+		}
+		return 0;
 	}
 
 
 	
 	/** Finds position vector from fully established portal */
-	private static void findPos(final Object obj1, final Object obj2, final ccd_t ccd,
+	private static int findPos(final Object obj1, final Object obj2, final ccd_t ccd,
 			final ccd_simplex_t portal, ccd_vec3_t pos)
 	{
 	    final ccd_vec3_t dir = new ccd_vec3_t();
@@ -379,7 +407,9 @@ private static void findPos(final Object obj1, final Object obj2, final ccd_t cc
 	    double sum, inv;
 	    final ccd_vec3_t vec = new ccd_vec3_t(), p1 = new ccd_vec3_t(), p2 = new ccd_vec3_t();
 
-	    portalDir(portal, dir);
+		if (portalDir(portal, dir) != 0) {
+			return -1;
+		}
 
 	    // use barycentric coordinates of tetrahedron to find origin
 	    ccdVec3Cross(vec, ccdSimplexPoint1(portal).v,
@@ -458,12 +488,13 @@ private static void findPos(final Object obj1, final Object obj2, final ccd_t cc
 	    ccdVec3Copy(pos, p1);
 	    ccdVec3Add(pos, p2);
 	    ccdVec3Scale(pos, 0.5);
+		return 0;
 	}
 
 	
 	/** Extends portal with new support point.
 	 *  Portal must have face v1-v2-v3 arranged to face outside portal. */
-	private static final void expandPortal(ccd_simplex_t portal,
+	private static void expandPortal(ccd_simplex_t portal,
 	                              final ccd_support_t v4)
 	{
 	    double dot;
@@ -491,7 +522,7 @@ private static final void expandPortal(ccd_simplex_t portal,
 
 	/** Fill dir with direction outside portal. Portal's v1-v2-v3 face must be
 	 *  arranged in correct order! */
-	private static final void portalDir(final ccd_simplex_t portal, ccd_vec3_t dir)
+	private static int portalDir(final ccd_simplex_t portal, ccd_vec3_t dir)
 	{
 	    final ccd_vec3_t v2v1 = new ccd_vec3_t(), v3v1 = new ccd_vec3_t();
 
@@ -500,7 +531,10 @@ private static final void portalDir(final ccd_simplex_t portal, ccd_vec3_t dir)
 	    ccdVec3Sub2(v3v1, ccdSimplexPoint3(portal).v,
 	                       ccdSimplexPoint1(portal).v);
 	    ccdVec3Cross(dir, v2v1, v3v1);
-	    ccdVec3Normalize(dir);
+		if (ccdVec3SafeNormalize(dir) != 0) {
+			return -1;
+		}
+		return 0;
 	}
 
 	/** Returns true if portal encapsules origin (0,0,0), dir is direction of
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDQuat.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDQuat.java
index 00e415a6..b02f3c4a 100644
--- a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDQuat.java
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDQuat.java
@@ -198,19 +198,19 @@ public static final int ccdQuatInvert2(ccd_quat_t dest, final ccd_quat_t src)
 	}
 
 	/**
-	 * Rotate vector s by quaternion q and put result into d.
+	 * Rotate vector v by quaternion q.
 	 */
-	public static void ccdQuatRotVec2(ccd_vec3_t d, final ccd_vec3_t s, final ccd_quat_t q) {
+	public static void ccdQuatRotVec(ccd_vec3_t v, final ccd_quat_t q) {
 		// original version: 31 mul + 21 add
 		// optimized version: 18 mul + 12 add
-		// formula: d = s + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * s)
+		// formula: v = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
 		double cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
 		double x, y, z, w;
 		double vx, vy, vz;
 
-		vx = ccdVec3X(s);
-		vy = ccdVec3Y(s);
-		vz = ccdVec3Z(s);
+		vx = ccdVec3X(v);
+		vy = ccdVec3Y(v);
+		vz = ccdVec3Z(v);
 
 		w = q.q3;
 		x = q.q0;
@@ -223,14 +223,7 @@ public static void ccdQuatRotVec2(ccd_vec3_t d, final ccd_vec3_t s, final ccd_qu
 		cross2_x = y * cross1_z - z * cross1_y;
 		cross2_y = z * cross1_x - x * cross1_z;
 		cross2_z = x * cross1_y - y * cross1_x;
-		ccdVec3Set(d, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
-	}
-
-	/**
-	 * Rotate vector v by quaternion q.
-	 */
-	public static void ccdQuatRotVec(ccd_vec3_t v, final ccd_quat_t q) {
-		ccdQuatRotVec2(v, v, q);
+		ccdVec3Set(v, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
 	}
 
 }
diff --git a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDVec3.java b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDVec3.java
index 22f98452..2cbbe656 100644
--- a/core/src/main/java/org/ode4j/ode/internal/libccd/CCDVec3.java
+++ b/core/src/main/java/org/ode4j/ode/internal/libccd/CCDVec3.java
@@ -39,10 +39,6 @@ public class CCDVec3 {
 	/* minimum of two floats */
 	static double CCD_FMIN(double x, double y) { return Math.min(x, y); }
 
-	public static double CCD_ATAN2(double x, double y) {
-		return Math.atan2(x, y);
-	}
-
 	//#define CCD_ONE CCD_REAL(1.)
 	public static final double CCD_ONE = 1;
 	//#define CCD_ZERO CCD_REAL(0.)
@@ -262,15 +258,6 @@ public static void ccdVec3Sub2(ccd_vec3_t d, final ccd_vec3_t v, final ccd_vec3_
 	    d.v2 = v.v2 - w.v2;
 	}
 
-	/**
-	 * d = v + w
-	 */
-	public static void ccdVec3Add2(ccd_vec3_t d, final ccd_vec3_t v, final ccd_vec3_t w) {
-		d.v0 = v.v0 + w.v0;
-		d.v1 = v.v1 + w.v1;
-		d.v2 = v.v2 + w.v2;
-	}
-
 	/**
 	 * d = d * k;
 	 *
@@ -283,40 +270,13 @@ public static void ccdVec3Scale(ccd_vec3_t d, double k) {
 		d.v2 *= k;
 	}
 
-	/**
-	 * d = s * k;
-	 */
-	public static void ccdVec3CopyScaled(ccd_vec3_t d, final ccd_vec3_t s, double k) {
-		d.v0 = s.v0 * k;
-		d.v1 = s.v1 * k;
-		d.v2 = s.v2 * k;
-	}
-
-	/**
-	 * d = v + s * k;
-	 */
-	static void ccdVec3AddScaled(ccd_vec3_t d, final ccd_vec3_t v, final ccd_vec3_t s, double k) {
-		d.v0 = v.v0 + s.v0 * k;
-		d.v1 = v.v1 + s.v1 * k;
-		d.v2 = v.v2 + s.v2 * k;
-	}
-
 	/**
 	 * Normalizes given vector to unit length.
-	 *
-	 * WARNING: This returns TRUE for a failure!
-	 *
-	 * @param d d
-	 * @return 'true' if normalization failed.
 	 */
-	public static boolean ccdVec3Normalize(ccd_vec3_t d)
+	public static void ccdVec3Normalize(ccd_vec3_t d)
 	{
-	    double len = CCD_SQRT(ccdVec3Len2(d));
-	    if (len > CCD_EPS) {
-		    ccdVec3Scale(d, CCD_ONE / len);
-		    return false;
-	    }
-	    return true;
+		double k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d));
+		ccdVec3Scale(d, k);
 	}
 
 	/**
diff --git a/core/src/main/java/org/ode4j/ode/internal/processmem/DxUtil.java b/core/src/main/java/org/ode4j/ode/internal/processmem/DxUtil.java
index 2d050f3a..1fc067b2 100644
--- a/core/src/main/java/org/ode4j/ode/internal/processmem/DxUtil.java
+++ b/core/src/main/java/org/ode4j/ode/internal/processmem/DxUtil.java
@@ -58,23 +58,22 @@ public class DxUtil {
                 1.2f, //dWORLDSTEP_RESERVEFACTOR_DEFAULT, 
                 65536);// dWORLDSTEP_RESERVESIZE_DEFAULT);
 
-    
-    static final int sizeof(Class<?> cls) {
-        if (cls == DxWorldProcessMemArena.class) {
-            return -1;
-        }
-        return -1;
-    }
-    
-    public static final int sizeof(Object o) {
-        if (o instanceof Class) {
-            return sizeof((Class<?>)o);
-        }
-        return sizeof(o.getClass());
-    }
-    
+
+    /* the efficient alignment. most platforms align data structures to some
+     * number of bytes, but this is not always the most efficient alignment.
+     * for example, many x86 compilers align to 4 bytes, but on a pentium it
+     * is important to align doubles to 8 byte boundaries (for speed), and
+     * the 4 floats in a SIMD register to 16 byte boundaries. many other
+     * platforms have similar behavior. setting a larger alignment can waste
+     * a (very) small amount of memory. NOTE: this number must be a power of
+     * two. this is set to 16 by default.
+     */
     public static final int EFFICIENT_ALIGNMENT = 16;
-    
+
+    /* ********************************************************************************************************* */
+    /* ************************* TZ: This has been move here from Common because it is mostly required here **** */
+    /* ********************************************************************************************************* */
+
 //  #define dEFFICIENT_SIZE(x) (((x)+(EFFICIENT_ALIGNMENT-1)) & ~((size_t)(EFFICIENT_ALIGNMENT-1)))
     static final int dEFFICIENT_SIZE(int x) {
         return x;
diff --git a/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessContext.java b/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessContext.java
index 794a637d..39653abe 100644
--- a/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessContext.java
+++ b/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessContext.java
@@ -105,6 +105,14 @@ public void DESTRUCTOR()
     {
     	Common.dIASSERT((m_pswObjectsAllocWorld != null) == (m_pmgStepperMutexGroup != null));
 
+        // TODO TZ: Ignored for migration to 0.16.2
+        //        if (m_pswObjectsAllocWorld != null)
+        //        {
+        //            throw new UnsupportedOperationException("This has not been ported yet from ODE");
+        //            // TODO m_pswObjectsAllocWorld->FreeMutexGroup(m_pmgStepperMutexGroup);
+        //            // m_pswObjectsAllocWorld->FreeThreadedCallWait(m_pcwIslandsSteppingWait); -- The stock call wait can not be freed
+        //        }
+
         DxWorldProcessMemArena pmaStepperArenas = m_pmaStepperArenas.get();
         if (pmaStepperArenas != null)
         {
@@ -396,14 +404,16 @@ public static boolean dxReallocateWorldProcessContext (DxWorld world, DxWorldPro
     		//TODO this is just wrong!!!! (TZ)
     		int stepperReqWithCallContext = stepperReq + DxUtil.dEFFICIENT_SIZE(1);//DxSingleIslandCallContext.class);
 
-    		int islandThreadsCount = world.GetThreadingIslandsMaxThreadsCount(null);
-    		if (!context.ReallocateStepperMemArenas(world, islandThreadsCount, stepperReqWithCallContext, 
-    				memmgr, reserveInfo.m_fReserveFactor, reserveInfo.m_uiReserveMinimum))
-    		{
-    			break;
-    		}
+            // TODO TZ: This has not been migrfated from ODE 0.16.2
+            // throw new UnsupportedOperationException("This has not been ported yet from ODE");
+            int islandThreadsCount = world.GetThreadingIslandsMaxThreadsCount(null);
+            if (!context.ReallocateStepperMemArenas(world, islandThreadsCount, stepperReqWithCallContext,
+                    memmgr, reserveInfo.m_fReserveFactor, reserveInfo.m_uiReserveMinimum))
+            {
+                break;
+            }
 
-    		result = true;
+            result = true;
     	}
     	while (false);
 
diff --git a/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessMemArena.java b/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessMemArena.java
index 7ab6ce57..2de04472 100644
--- a/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessMemArena.java
+++ b/core/src/main/java/org/ode4j/ode/internal/processmem/DxWorldProcessMemArena.java
@@ -36,8 +36,8 @@ public final class DxWorldProcessMemArena {
     //   public:
     // #define BUFFER_TO_ARENA_EXTRA (EFFICIENT_ALIGNMENT + dEFFICIENT_SIZE(sizeof(dxWorldProcessMemArena)))
     private final static int BUFFER_TO_ARENA_EXTRA () {
-        return (DxUtil.EFFICIENT_ALIGNMENT + DxUtil.dEFFICIENT_SIZE(
-                DxUtil.sizeof(DxWorldProcessMemArena.class)));
+        return 0; //(DxUtil.EFFICIENT_ALIGNMENT + DxUtil.dEFFICIENT_SIZE(
+                //DxUtil.sizeof(DxWorldProcessMemArena.class)));
     }
 
     static boolean IsArenaPossible(int nBufferSize)
diff --git a/core/src/main/java/org/ode4j/ode/threading/Atomics.java b/core/src/main/java/org/ode4j/ode/threading/Atomics.java
index 759ee060..7206fb02 100644
--- a/core/src/main/java/org/ode4j/ode/threading/Atomics.java
+++ b/core/src/main/java/org/ode4j/ode/threading/Atomics.java
@@ -57,7 +57,10 @@ public static int ThrsafeIncrementIntUpToLimit(AtomicInteger storagePointer, int
 	    int resultValue;
 	    while (true) {
 	        resultValue = storagePointer.get();
-	        if (resultValue == limitValue) {
+			// The ">=" comparison is used here to allow continuing incrementing the destination
+			// without waiting for all the threads to pass the barrier of checking its value
+			if (resultValue >= limitValue) {
+				resultValue = limitValue;
 	            break;
 	        }
 	        if (ThrsafeCompareExchange(storagePointer, resultValue, resultValue + 1)) {
@@ -72,7 +75,10 @@ public static int ThrsafeIncrementSizeUpToLimit(AtomicInteger storagePointer, in
 	    int resultValue;
 	    while (true) {
 	        resultValue = storagePointer.get();
-	        if (resultValue == limitValue) {
+			// The ">=" comparison is not required here at present ("==" could be used).
+			// It is just used this way to match the other function above.
+			if (resultValue >= limitValue) {
+				resultValue = limitValue;
 	            break;
 	        }
 	        //if (ThrsafeCompareExchangePointer((volatile atomicptr *)storagePointer, (atomicptr)resultValue, (atomicptr)(resultValue + 1))) {
diff --git a/demo-cpp/src/test/java/org/ode4j/tests/CollisionTest.java b/demo-cpp/src/test/java/org/ode4j/tests/CollisionTest.java
index f3b68460..fcd38f62 100644
--- a/demo-cpp/src/test/java/org/ode4j/tests/CollisionTest.java
+++ b/demo-cpp/src/test/java/org/ode4j/tests/CollisionTest.java
@@ -24,33 +24,18 @@
  *************************************************************************/
 package org.ode4j.tests;
 
-import static org.ode4j.cpp.internal.ApiCppCollision.dCollide;
-import static org.ode4j.cpp.internal.ApiCppCollision.dCreateHeightfield;
-import static org.ode4j.cpp.internal.ApiCppCollision.dCreateRay;
-import static org.ode4j.cpp.internal.ApiCppCollision.dCreateSphere;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomDestroy;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomHeightfieldDataBuildByte;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomHeightfieldDataCreate;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomHeightfieldDataDestroy;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomHeightfieldDataSetBounds;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomRaySet;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomSetPosition;
-import static org.ode4j.cpp.internal.ApiCppCollision.dGeomSetRotation;
+import static org.ode4j.cpp.internal.ApiCppCollision.*;
 import static org.ode4j.cpp.internal.ApiCppCollisionTrimesh.dCreateTriMesh;
 import static org.ode4j.cpp.internal.ApiCppCollisionTrimesh.dGeomTriMeshDataBuildSingle;
 import static org.ode4j.cpp.internal.ApiCppCollisionTrimesh.dGeomTriMeshDataCreate;
-import static org.ode4j.tests.UnitTestPlusPlus.CheckMacros.CHECK_ARRAY_EQUAL;
-import static org.ode4j.tests.UnitTestPlusPlus.CheckMacros.CHECK_EQUAL;
+import static org.ode4j.demo.ConvexPrism.*;
+import static org.ode4j.ode.internal.Common.*;
+import static org.ode4j.tests.UnitTestPlusPlus.CheckMacros.*;
 
 import org.junit.Test;
 import org.ode4j.math.DMatrix3;
 import org.ode4j.math.DVector3;
-import org.ode4j.ode.DContactBuffer;
-import org.ode4j.ode.DContactGeomBuffer;
-import org.ode4j.ode.DGeom;
-import org.ode4j.ode.DHeightfieldData;
-import org.ode4j.ode.DRay;
-import org.ode4j.ode.DTriMeshData;
+import org.ode4j.ode.*;
 import org.ode4j.tests.UnitTestPlusPlus.TestSuperClass;
 
 /**
@@ -198,5 +183,102 @@ public class CollisionTest extends TestSuperClass {
 		dGeomHeightfieldDataDestroy(heightfieldData);
 	}
 
+	@Test
+	public void test_collision_ray_convex()
+	{
+		/*
+		 * Issue 55: ray vs convex collider does not consider the position of the convex geometry.
+		 */
+		{
+			DContactBuffer all_contacts = new DContactBuffer(1);
+			DContactGeomBuffer contacts = all_contacts.getGeomBuffer();
+			DContact contact = all_contacts.get(0); // TODO correct?
+
+			// Create convex
+			DGeom convex = dCreateConvex(null,
+					prism_planes,
+					prism_planecount,
+					prism_points,
+					prism_pointcount,
+					prism_polygons);
+			dGeomSetPosition(convex,0,0,0);
+
+			// Create ray
+			DRay ray = dCreateRay(null, 20);
+
+			dGeomRaySet(ray, 0, -10, 0, 0, 1, 0);
+
+			int count = dCollide(ray, convex, 1, contacts);
+
+			CHECK_EQUAL(1,count);
+			CHECK_CLOSE(0.0,contact.geom.pos.get0(), dEpsilon);
+			CHECK_CLOSE(-1.0,contact.geom.pos.get1(), dEpsilon);
+			CHECK_CLOSE(0.0,contact.geom.pos.get2(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get0(), dEpsilon);
+			CHECK_CLOSE(-1.0, contact.geom.normal.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get2(), dEpsilon);
+			CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
+
+			// Move Ray
+			dGeomRaySet(ray, 5, -10, 0, 0, 1, 0);
+
+			count = dCollide(ray, convex, 1, contacts);
+
+			CHECK_EQUAL(1,count);
+			CHECK_CLOSE(5.0, contact.geom.pos.get0(), dEpsilon);
+			CHECK_CLOSE(-1.0, contact.geom.pos.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.pos.get2(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get0(), dEpsilon);
+			CHECK_CLOSE(-1.0, contact.geom.normal.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get2(), dEpsilon);
+			CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
+
+			// Rotate Convex
+			DMatrix3 rotate90z = new DMatrix3(
+
+							0,-1,0,0,
+							1,0,0,0,
+							0,0,1,0
+			);
+			dGeomSetRotation(convex, rotate90z);
+
+			count = dCollide(ray, convex, 1, contacts);
+
+			CHECK_EQUAL(0,count);
+
+			// Move Ray
+			dGeomRaySet(ray, 10, 0, 0, -1, 0, 0);
+			count = dCollide(ray, convex, 1, contacts);
+
+			CHECK_EQUAL(1,count);
+			CHECK_CLOSE(1.0, contact.geom.pos.get0(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.pos.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.pos.get2(), dEpsilon);
+			CHECK_CLOSE(1.0, contact.geom.normal.get0(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get2(), dEpsilon);
+			CHECK_CLOSE(9.0,contact.geom.depth, dEpsilon);
+
+
+			// Move Ray
+			dGeomRaySet(ray, 10, 1000, 1000, -1, 0, 0);
+			// Move Geom
+			dGeomSetPosition(convex, 0, 1000, 1000);
+
+			count = dCollide(ray, convex, 1, contacts);
+
+			CHECK_EQUAL(1, count);
+			CHECK_CLOSE(1.0, contact.geom.pos.get0(), dEpsilon);
+			CHECK_CLOSE(1000.0, contact.geom.pos.get1(), dEpsilon);
+			CHECK_CLOSE(1000.0, contact.geom.pos.get2(), dEpsilon);
+			CHECK_CLOSE(1.0, contact.geom.normal.get0(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get1(), dEpsilon);
+			CHECK_CLOSE(0.0, contact.geom.normal.get2(), dEpsilon);
+			CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
+
+			dGeomDestroy(convex);
+			dGeomDestroy(ray);
+		}
+	}
 
 }
diff --git a/demo-cpp/src/test/java/org/ode4j/tests/TestOdeMath.java b/demo-cpp/src/test/java/org/ode4j/tests/TestOdeMath.java
index a0d13139..c16fd64e 100644
--- a/demo-cpp/src/test/java/org/ode4j/tests/TestOdeMath.java
+++ b/demo-cpp/src/test/java/org/ode4j/tests/TestOdeMath.java
@@ -145,8 +145,7 @@ public class TestOdeMath {
 
 		v3.set( 9999999999.0, 9999.0, 9.0 );
 		v3.normalize();
-		CHECK_EQUAL(v3.length(), 1.0);
-
+		CHECK_CLOSE(v3.length(), 1.0, 0.001);
 	}
 
 
diff --git a/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench.java b/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench.java
index 50cb3623..48a09129 100644
--- a/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench.java
+++ b/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench.java
@@ -273,7 +273,7 @@ public static void main(String[] args) {
 	        cycles = Integer.parseInt(args[0]);
 	    }
 
-//	    fprintf(stdout, "Cycles: %u\n", cycles);
+//	    fprintf(stdout, "Cycles: %zu\n", cycles);
 //	    fprintf(stdout, "\n");
 
 	    boxbox();
diff --git a/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench2.java b/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench2.java
index c980fe81..3e5d28cd 100644
--- a/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench2.java
+++ b/demo-cpp/src/test/java/org/ode4j/tests/libccd/CCDTestBench2.java
@@ -285,7 +285,7 @@ public static void main(String[] args) {
 	        cycles = Integer.parseInt(args[0]);
 	    }
 
-//	    fprintf(stdout, "Cycles: %u\n", cycles);
+//	    fprintf(stdout, "Cycles: %zu\n", cycles);
 //	    fprintf(stdout, "\n");
 
 	    boxbox();
diff --git a/demo-cpp/src/test/java/org/ode4j/tests/math/OdeMathTZ.java b/demo-cpp/src/test/java/org/ode4j/tests/math/OdeMathTZ.java
index d79689d3..4e6b0b92 100644
--- a/demo-cpp/src/test/java/org/ode4j/tests/math/OdeMathTZ.java
+++ b/demo-cpp/src/test/java/org/ode4j/tests/math/OdeMathTZ.java
@@ -154,8 +154,7 @@ public class OdeMathTZ {
 
 		v3.set(9999999999.0, 9999.0, 9.0);
 		v3.normalize();
-		CHECK_EQUAL(v3.length(), 1.0);
-
+		CHECK_CLOSE(v3.length(), 1.0, 0.001);
 	}
 	
 	@Test public void test_dOrthogonalizeR() {
diff --git a/demo/src/main/java/org/ode4j/demo/ConvexCubeGeom.java b/demo/src/main/java/org/ode4j/demo/ConvexCubeGeom.java
index deaa5ecd..838a98c4 100644
--- a/demo/src/main/java/org/ode4j/demo/ConvexCubeGeom.java
+++ b/demo/src/main/java/org/ode4j/demo/ConvexCubeGeom.java
@@ -1,3 +1,27 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
+ * details.                                                              *
+ *                                                                       *
+ *************************************************************************/
 package org.ode4j.demo;
 
 class ConvexCubeGeom {
diff --git a/demo/src/main/java/org/ode4j/demo/ConvexPrism.java b/demo/src/main/java/org/ode4j/demo/ConvexPrism.java
new file mode 100644
index 00000000..181f0d62
--- /dev/null
+++ b/demo/src/main/java/org/ode4j/demo/ConvexPrism.java
@@ -0,0 +1,60 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
+ * details.                                                              *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.demo;
+
+
+public class ConvexPrism {
+
+    public static int prism_pointcount = 8;
+
+    public static int prism_planecount = 6;
+    public static double[] prism_points = { // [24]= {
+        10.0, 1.0, -1.0,
+                10.0, -1.0, -1.0,
+                -10.0, -1.0, -1.0,
+                -10.0, 1.0, -1.0,
+                10.0, 1.0, 1.0,
+                10.0, -1.0, 1.0,
+                -10.0, -1.0, 1.0,
+                -10.0, 1.0, 1.0
+    };
+
+    public static int[] prism_polygons = {
+            4, 0, 1, 2, 3,
+            4, 4, 7, 6, 5,
+            4, 0, 4, 5, 1,
+            4, 1, 5, 6, 2,
+            4, 2, 6, 7, 3,
+            4, 4, 0, 3, 7,
+    };
+    public static double[] prism_planes = {
+            0.0, 0.0, -1.0, 1.0,
+            0.0, 0.0, 1.0, 1.0,
+            1.0, 0.0, 0.0, 10.0,
+            0.0, -1.0, 0.0, 1.0,
+            -1.0, 0.0, -0.0, 10.0,
+            0.0, 1.0, 0.0, 1.0,
+    };
+}
\ No newline at end of file
diff --git a/demo/src/main/java/org/ode4j/demo/DemoCollision.java b/demo/src/main/java/org/ode4j/demo/DemoCollision.java
index 4f137bbe..4fb97615 100644
--- a/demo/src/main/java/org/ode4j/demo/DemoCollision.java
+++ b/demo/src/main/java/org/ode4j/demo/DemoCollision.java
@@ -1105,34 +1105,59 @@ private static boolean edgeIntersectsRect (DVector3 v1, DVector3 v2,
 			DVector3 p1, DVector3 p2, DVector3 p3)
 	{
 		DVector3 u1=new DVector3(),u2=new DVector3(),n=new DVector3(),tmp=new DVector3();
+
 		//for (k=0; k<3; k++) u1[k] = p3[k]-p1[k];
 		u1.eqDiff(p3, p1);
 		//for (k=0; k<3; k++) u2[k] = p2[k]-p1[k];
 		u2.eqDiff(p2, p1);
+
 		double d1 = dSqrt(u1.dot(u1));
 		double d2 = dSqrt(u2.dot(u2));
 		u1.normalize();
 		u2.normalize();
-		if (dFabs(u1.dot(u2)) > 1e-6) dDebug (0,"bad u1/u2");
-		n.eqCross(u1, u2);
-		//for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k];
-		tmp.eqDiff(v2, v1);
-		double d = -n.dot(p1);
-		if (dFabs(n.dot(p1)+d) > 1e-8) dDebug (0,"bad n wrt p1");
-		if (dFabs(n.dot(p2)+d) > 1e-8) dDebug (0,"bad n wrt p2");
-		if (dFabs(n.dot(p3)+d) > 1e-8) dDebug (0,"bad n wrt p3");
-		double alpha = -(d+n.dot(v1))/n.dot(tmp);
-		//for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]);
+
+		double error;
+		// #ifdef dSINGLE
+		// 	const dReal uEpsilon = 1e-5, pEpsilon = 1e-6, tmpEpsilon = 1.5e-4;
+		// #else
+		final double uEpsilon = 1e-6, pEpsilon = 1e-8, tmpEpsilon = 1e-6;
+		// #endif
+
+		error = dFabs(dCalcVectorDot3(u1, u2));
+		if (error > uEpsilon) dDebug(0, "bad u1/u2");
+
+		dCalcVectorCross3(n, u1, u2);
+
+		// for (k=0; k < 3; k++) tmp[k] = v2[k] - v1[k];
 		tmp.eqDiff(v2, v1);
-		tmp.eqSum(v1, tmp.scale(alpha));
-		if (dFabs(n.dot(tmp)+d) > 1e-6) dDebug (0,"bad tmp");
+
+		double d = -dCalcVectorDot3(n, p1);
+
+		error = dFabs(dCalcVectorDot3(n, p1) + d);
+		if (error > pEpsilon) dDebug(0, "bad n wrt p1");
+
+		error = dFabs(dCalcVectorDot3(n, p2) + d);
+		if (error > pEpsilon) dDebug(0, "bad n wrt p2");
+
+		error = dFabs(dCalcVectorDot3(n, p3) + d);
+		if (error > pEpsilon) dDebug(0, "bad n wrt p3");
+
+		double alpha = -(d + dCalcVectorDot3(n, v1)) / dCalcVectorDot3(n, tmp);
+		// for (k=0; k < 3; k++) tmp[k] = v1[k] + alpha * (v2[k] - v1[k]);
+		tmp.eqDiff(v2, v1).scale(alpha).add(v1);
+
+		error = dFabs(dCalcVectorDot3(n, tmp) + d);
+		if (error > tmpEpsilon) dDebug(0, "bad tmp");
+
 		if (alpha < 0) return false;
 		if (alpha > 1) return false;
+
 		//for (k=0; k<3; k++) tmp[k] -= p1[k];
 		tmp.sub(p1);
 		double a1 = u1.dot(tmp);
 		double a2 = u2.dot(tmp);
 		if (a1<0 || a2<0 || a1>d1 || a2>d2) return false;
+
 		return true;
 	}
 
diff --git a/demo/src/main/java/org/ode4j/demo/DemoConvex.java b/demo/src/main/java/org/ode4j/demo/DemoConvex.java
new file mode 100644
index 00000000..1a2a5dbb
--- /dev/null
+++ b/demo/src/main/java/org/ode4j/demo/DemoConvex.java
@@ -0,0 +1,312 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.demo;
+
+import org.ode4j.drawstuff.DrawStuff;
+import org.ode4j.math.DMatrix3C;
+import org.ode4j.math.DQuaternion;
+import org.ode4j.math.DVector3;
+import org.ode4j.math.DVector3C;
+import org.ode4j.ode.*;
+
+import static org.ode4j.drawstuff.DrawStuff.*;
+import static org.ode4j.drawstuff.DrawStuff.DS_TEXTURE_NUMBER.DS_NONE;
+import static org.ode4j.ode.OdeConstants.*;
+import static org.ode4j.ode.internal.Common.M_PI;
+import static org.ode4j.demo.Halton235Geom.*;
+
+/**
+ * Convex demo.
+ *  Serves as a test for the convex geometry.
+ * By Bram Stolk.
+ */
+public class DemoConvex extends DrawStuff.dsFunctions {
+
+	// Height at which we drop the composite block.
+	private static final double H = 4.20;
+
+	private static DWorld world;
+	private static DSpace space;
+
+	private static DBody mbody;
+
+	private static final DBody[] hbody = new DBody[halton_numc ];
+	private static final DGeom[] hgeom = new DGeom[halton_numc ];
+
+	private static DJointGroup contactgroup;
+
+	private static boolean drawpos = false;
+	private static boolean solidkernel = false;
+
+
+	private final DGeom.DNearCallback nearCallback = new DGeom.DNearCallback() {
+		@Override
+		public void call(Object data, DGeom o1, DGeom o2) {
+			nearCallback(data, o1, o2);
+		}
+	};
+
+	// this is called by dSpaceCollide when two objects in space are
+	// potentially colliding.
+
+	private void nearCallback(Object data, DGeom o1, DGeom o2) {
+		assert (o1 != null);
+		assert (o2 != null);
+		if (o1 instanceof DSpace || o2 instanceof DSpace) {
+			// colliding a space with something
+			OdeHelper.spaceCollide2(o1, o2, data, nearCallback);
+			// Note we do not want to test intersections within a space,
+			// only between spaces.
+			return;
+		}
+
+		final int N = 32;
+		DContactBuffer contacts = new DContactBuffer(N);
+		int n = OdeHelper.collide(o1, o2, N, contacts.getGeomBuffer());
+		if (n > 0) {
+			for (int i = 0; i < n; i++) {
+				DContact contact = contacts.get(i);
+				contact.surface.slip1 = 0.7;
+				contact.surface.slip2 = 0.7;
+				contact.surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+				contact.surface.mu = 500.0; // was: dInfinity
+				contact.surface.soft_erp = 0.50;
+				contact.surface.soft_cfm = 0.03;
+				DJoint c = OdeHelper.createContactJoint(world, contactgroup, contact);
+				c.attach(
+								contact.geom.g1.getBody(),
+								contact.geom.g2.getBody()
+						);
+			}
+		}
+	}
+
+
+	// start simulation - set viewpoint
+	@Override
+	public void start() {
+		//dAllocateODEDataForThread(dAllocateMaskAll);
+		dsSetViewpoint(xyz, hpr);
+		System.err.println("Press SPACE to reset the simulation.");
+	}
+	private static final float[] xyz = { // [ 3] ={
+		-8, 0, 5
+	};
+	private static final float[] hpr = { // [ 3] ={
+		0.0f, -29.5000f, 0.0000f
+	};
+
+
+	private static void reset() {
+		DQuaternion q = new DQuaternion();
+		q.setIdentity();
+		mbody.setPosition(0, 0, 0 + H);
+		mbody.setQuaternion(q);
+		mbody.setLinearVel(0, 0, 0);
+		mbody.setAngularVel(0, 0, 0);
+		mbody.enable();
+		for (int i = 0; i < halton_numc; ++i) {
+			DBody body = hbody[i];
+			if (body == null) continue;
+			body.setPosition(halton_pos[i][0], halton_pos[i][1], halton_pos[i][2] + H);
+			body.setQuaternion(q);
+			body.setLinearVel(0, 0, 0);
+			body.setAngularVel(0, 0, 0);
+			body.enable();
+		}
+	}
+
+
+	// called when a key pressed
+	@Override
+	public void command(char cmd) {
+		switch (cmd) {
+			case ' ':
+				reset();
+				break;
+			default:
+				break;
+		}
+	}
+
+	@Override
+	public void step(boolean pause) {
+		double simstep = 1 / 240.0;
+		double dt = dsElapsedTime();
+
+		int nrofsteps = (int) Math.ceil(dt / simstep);
+		nrofsteps = nrofsteps > 8 ? 8 : nrofsteps;
+
+		for (int i = 0; i < nrofsteps && !pause; i++) {
+			OdeHelper.spaceCollide(space, 0, nearCallback);
+			world.quickStep(simstep);
+			contactgroup.empty();
+		}
+
+		dsSetColor(1, 1, 1);
+		// Draw the convex objects.
+		for (int i = 0; i < halton_numc; ++i) {
+			DGeom geom = hgeom[i];
+			DBody body = geom.getBody();
+			//const dReal *pos = dBodyGetPosition(body);
+			//const dReal *rot = dBodyGetRotation(body);
+			DVector3C pos = geom.getPosition();
+			DMatrix3C rot = geom.getRotation();
+			dsDrawConvex
+					(
+							pos, rot,
+							halton_planes[i],
+							halton_numf[i],
+							halton_verts[i],
+							halton_numv[i],
+							halton_faces[i]
+					);
+		}
+
+		if (drawpos) {
+			dsSetColor(1, 0, 0.2);
+			dsSetTexture(DS_NONE);
+			final float l = 0.35f;
+			for (int i = 0; i < halton_numc; ++i) {
+				DBody body = hbody[i];
+				DVector3C pos2 = body.getPosition();
+				float[] pos = pos2.toFloatArray();
+				float[] x0 ={
+					pos[0] - l, pos[1], pos[2]
+				} ;
+				float[] x1 ={
+					pos[0] + l, pos[1], pos[2]
+				} ;
+				float[] y0 ={
+					pos[0], pos[1] - l, pos[2]
+				} ;
+				float[] y1 ={
+					pos[0], pos[1] + l, pos[2]
+				} ;
+				float[] z0 ={
+					pos[0], pos[1], pos[2] - l
+				} ;
+				float[] z1 ={
+					pos[0], pos[1], pos[2] + l
+				} ;
+				dsDrawLine(x0, x1);
+				dsDrawLine(y0, y1);
+				dsDrawLine(z0, z1);
+			}
+		}
+	}
+
+	public static void main(final String[] args) {
+		new DemoConvex().demo(args);
+	}
+
+	private void demo(String[] args) {
+		DMass m = OdeHelper.createMass();
+
+		// setup pointers to drawstuff callback functions
+		//		dsFunctions fn;
+		//		fn.version = DS_VERSION;
+		//		fn.start = &start;
+		//		fn.step = &simLoop;
+		//		fn.command = &command;
+		//		fn.stop = 0;
+		//		fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+		// create world
+		OdeHelper.initODE2(0);
+		world = OdeHelper.createWorld();
+		space = OdeHelper.createHashSpace();
+		((DHashSpace)space).setLevels(-3, 5);
+		OdeHelper.createPlane(space, 0, 0, 1, 0);    // Add a ground plane.
+
+		contactgroup = OdeHelper.createJointGroup();
+		world.setGravity(0, 0, -9.8);
+		world.setQuickStepNumIterations(32);
+		world.setContactMaxCorrectingVel(40);
+		world.setMaxAngularSpeed(62.8);
+		world.setERP(0.7);
+		world.setQuickStepW(0.75); // For increased stability.
+
+		world.setAutoDisableFlag(true);
+		world.setAutoDisableLinearThreshold(0.01);
+		world.setAutoDisableAngularThreshold(0.03);
+		world.setAutoDisableTime(0.15f);
+
+		final float kernelrad = 0.7f;
+
+		mbody = OdeHelper.createBody(world);
+		mbody.setPosition(0, 0, 0 + H);
+		m.setSphere(5, kernelrad );
+		mbody.setMass( m );
+
+		for (int i = 0; i < halton_numc; ++i) {
+			DGeom geom = OdeHelper.createConvex(
+							space,
+							halton_planes[i],
+							halton_numf[i],
+							halton_verts[i],
+							halton_numv[i],
+							halton_faces[i]
+					);
+			hgeom[i] = geom;
+			final double x = halton_pos[i][0];
+			final double y = halton_pos[i][1];
+			final double z = halton_pos[i][2];
+			final double dsqr = x * x + y * y + z * z;
+
+			if (dsqr < kernelrad * kernelrad && solidkernel) {
+				geom.setBody(mbody);
+				geom.setOffsetPosition(x, y, z);
+			} else {
+				DBody body = OdeHelper.createBody(world);
+				hbody[i] = body;
+				body.setPosition(x, y, z + H);
+				double volu = halton_volu[i];
+				double rad = Math.pow(volu * 3 / (4 * M_PI), (1 / 3.0));
+				m.setSphere( 5, rad );
+				body.setMass( m );
+//#if 1
+				body.setLinearDamping(0.0005);
+				body.setAngularDamping(0.0300);
+//#edif
+				geom.setBody(body);
+			}
+		}
+
+		// run simulation
+		final int w = 1280;
+		final int h = 720;
+		dsSimulationLoop(args, w, h, this);
+
+		contactgroup.empty ();
+		contactgroup.destroy ();
+		space.destroy ();
+		world.destroy ();
+		OdeHelper.closeODE();
+	}
+
+	@Override
+	public void stop() {
+		// Nothing
+	}
+
+}
diff --git a/demo/src/main/java/org/ode4j/demo/DemoFeedback.java b/demo/src/main/java/org/ode4j/demo/DemoFeedback.java
index 80af8685..d648e895 100644
--- a/demo/src/main/java/org/ode4j/demo/DemoFeedback.java
+++ b/demo/src/main/java/org/ode4j/demo/DemoFeedback.java
@@ -89,7 +89,6 @@ private void nearCallback (Object data, DGeom o1, DGeom o2)
 
 		if ( o1 instanceof DSpace || o2 instanceof DSpace )
 		{
-			System.err.println("testing space " + o1 + "  " + o2);
 			// colliding a space with something
 			OdeHelper.spaceCollide2(o1,o2,data,nearCallback);
 			// Note we do not want to test intersections within a space,
@@ -120,8 +119,8 @@ private void nearCallback (Object data, DGeom o1, DGeom o2)
 	}
 
 
-	private static float[] xyz = { -6, 8, 6};
-	private static float[] hpr = { -65.0f, -27.0f, 0.0f};
+	private static final float[] xyz = { -6, 8, 6};
+	private static final float[] hpr = { -65.0f, -27.0f, 0.0f};
 	// start simulation - set viewpoint
 	@Override
 	public void start()
@@ -160,7 +159,7 @@ private void drawGeom (DGeom g)
 
 	private static void inspectJoints()
 	{
-		final double forcelimit = 2000.0;
+		final double forcelimit = 4000.0;
 		int i;
 		for (i=0; i<SEGMCNT-1; i++)
 		{
@@ -303,7 +302,7 @@ private void demo(String[] args) {
 			colours[i]=0.0;
 
 		// run simulation
-		dsSimulationLoop (args,352,288,this);
+		dsSimulationLoop (args,1280,720,this);
 
 		contactgroup.empty();
 		contactgroup.destroy();
diff --git a/demo/src/main/java/org/ode4j/demo/DemoJoints.java b/demo/src/main/java/org/ode4j/demo/DemoJoints.java
index 1fed1c60..f45e2689 100644
--- a/demo/src/main/java/org/ode4j/demo/DemoJoints.java
+++ b/demo/src/main/java/org/ode4j/demo/DemoJoints.java
@@ -105,7 +105,7 @@ public class DemoJoints extends dsFunctions {
 	//static int cmd_graphics = 1;
 	private static boolean cmd_interactive = false;
 	private static boolean cmd_graphics = true;
-	private static int cmd_occasional_error = 0;	// perturb occasionally
+	private static int cmd_occasional_error = 1;	// perturb occasionally
 
 
 	// info about the current test
diff --git a/demo/src/main/java/org/ode4j/demo/DemoOde.java b/demo/src/main/java/org/ode4j/demo/DemoOde.java
index c3777cd4..e3961296 100644
--- a/demo/src/main/java/org/ode4j/demo/DemoOde.java
+++ b/demo/src/main/java/org/ode4j/demo/DemoOde.java
@@ -42,6 +42,27 @@
 import org.ode4j.ode.internal.ErrorHdl.ErrorJump;
 
 class DemoOde {
+	//****************************************************************************
+	// matrix sizes
+
+	// #define dALIGN_SIZE(buf_size, alignment) (((buf_size) + (alignment - 1)) & (int)(~(alignment - 1))) // Casting the mask to int ensures sign-extension to larger integer sizes
+	// #define dALIGN_PTR(buf_ptr, alignment) ((void *)(((duintptr)(buf_ptr) + ((alignment) - 1)) & (int)(~(alignment - 1)))) // Casting the mask to int ensures sign-extension to larger integer sizes
+	//
+	// #define MSIZE 21
+	// #define MSIZE4 dALIGN_SIZE(MSIZE, 4)	// MSIZE rounded up to 4
+	private static final int MSIZE = 21;
+	private static final int MSIZE4 = 24;	// MSIZE rounded up to 4
+
+
+
+
+
+	//****************************************************************************
+	// matrix accessors
+
+	// #define _A(i,j) A[(i)*4+(j)]
+	// #define _I(i,j) I[(i)*4+(j)]
+	// #define _R(i,j) R[(i)*4+(j)]
 
 
 	//****************************************************************************
@@ -294,12 +315,6 @@ private void testPlaneSpace()
 	//****************************************************************************
 	// test matrix functions
 
-	//#define MSIZE 21
-	//#define MSIZE4 24	// MSIZE rounded up to 4
-	private static final int MSIZE = 21;
-	private static final int MSIZE4 = 24;	// MSIZE rounded up to 4
-
-
 	private void testMatrixMultiply()
 	{
 		// A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4
@@ -380,8 +395,10 @@ private void testSmallMatrixMultiply()
 
 	private void testCholeskyFactorization()
 	{
-		double[] A = new double[MSIZE4*MSIZE], B = new double[MSIZE4*MSIZE];
-		double[] C = new double[MSIZE4*MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		double[] A = new double[matrixSize];
+		double[] B = new double[matrixSize];
+		double[] C = new double[matrixSize];
 		double diff;
 		HEADER();
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
@@ -399,7 +416,8 @@ private void testCholeskyFactorization()
 
 	private void testCholeskyFactorizationM3()
 	{
-		DMatrix3 A = new DMatrix3(), B = new DMatrix3();
+		DMatrix3 A = new DMatrix3();
+		DMatrix3 B = new DMatrix3();
 		DMatrix3 C = new DMatrix3();
 		double diff;
 		HEADER();
@@ -418,8 +436,10 @@ private void testCholeskyFactorizationM3()
 
 	private void testCholeskySolve()
 	{
-		double[] A = new double[MSIZE4*MSIZE], L = new double[MSIZE4*MSIZE];
-		double[] b = new double[MSIZE],x = new double[MSIZE],btest = new double[MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		int vectorSize = MSIZE;
+		double[] A = new double[matrixSize], L = new double[matrixSize];
+		double[] b = new double[vectorSize],x = new double[vectorSize],btest = new double[vectorSize];
 		double diff;
 		HEADER();
 
@@ -485,8 +505,9 @@ void testCholeskySolveM3()
 	private void testInvertPDMatrix()
 	{
 		int i,j,ok;
-		double[] A = new double[MSIZE4*MSIZE], Ainv = new double[MSIZE4*MSIZE]; 
-		double[] I = new double[MSIZE4*MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		double[] A = new double[matrixSize], Ainv = new double[matrixSize];
+		double[] I = new double[matrixSize];
 		HEADER();
 
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
@@ -545,8 +566,11 @@ private void testInvertPDMatrixM3()
 	
 	private void testIsPositiveDefinite()
 	{
-		double[] A = new double[MSIZE4*MSIZE], B = new double[MSIZE4*MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		double[] A = new double[matrixSize], B = new double[matrixSize];
+
 		HEADER();
+
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
 		dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
 		println ("\t",dIsPositiveDefinite(A,MSIZE) ? "FAILED (1)":"passed (1)");
@@ -556,7 +580,9 @@ private void testIsPositiveDefinite()
 	private void testIsPositiveDefiniteM3()
 	{
 		DMatrix3 A = new DMatrix3(), B = new DMatrix3();
+
 		HEADER();
+
 		dMakeRandomMatrix (A,1.0);
 		dMultiply2 (B,A,A);
 		println ("\t",dIsPositiveDefinite(A) ? "FAILED (1)":"passed (1)");
@@ -566,16 +592,21 @@ private void testIsPositiveDefiniteM3()
 	private void testFastLDLTFactorization()
 	{
 		int i,j;
-		double[] A = new double[MSIZE4*MSIZE], L = new double[MSIZE4*MSIZE];
-		double[] DL = new double[MSIZE4*MSIZE];
-		double[] ATEST = new double[MSIZE4*MSIZE], d = new double[MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		int vectorSize = MSIZE;
+		double[] A = new double[matrixSize], L = new double[matrixSize];
+		double[] DL = new double[matrixSize];
+		double[] ATEST = new double[matrixSize], d = new double[vectorSize];
 		double diff;
+
 		HEADER();
+
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
 		dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
 		System.arraycopy(L, 0, A, 0, MSIZE4*MSIZE);
 		
 		dFactorLDLT (L,d,MSIZE,MSIZE4);
+
 		dClearUpperTriangle (L,MSIZE);
 		for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
 
@@ -664,11 +695,15 @@ private void testCoopLDLTFactorization()
 
 	private void testSolveLDLT()
 	{
-		double[] A = new double[MSIZE4*MSIZE], L = new double[MSIZE4*MSIZE];
-		double[] d = new double[MSIZE], x = new double[MSIZE];
-		double[] b = new double[MSIZE], btest = new double[MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		int vectorSize = MSIZE;
+		double[] A = new double[matrixSize], L = new double[matrixSize];
+		double[] d = new double[vectorSize], x = new double[vectorSize];
+		double[] b = new double[vectorSize], btest = new double[vectorSize];
 		double diff;
+
 		HEADER();
+
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
 		dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
 		System.arraycopy(L, 0, A, 0, MSIZE4*MSIZE);
@@ -757,10 +792,13 @@ void testCoopSolveLDLT()
 	private void testLDLTAddTL()
 	{
 		int i,j;
-		double[] A = new double[MSIZE4*MSIZE], L = new double[MSIZE4*MSIZE]; 
-		double[] d = new double[MSIZE], a = new double[MSIZE];
-		double[] DL = new double[MSIZE4*MSIZE], ATEST = new double[MSIZE4*MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		int vectorSize = MSIZE;
+		double[] A = new double[matrixSize], L = new double[matrixSize];
+		double[] d = new double[vectorSize], a = new double[vectorSize];
+		double[] DL = new double[matrixSize], ATEST = new double[matrixSize];
 		double diff;
+
 		HEADER();
 
 		dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
@@ -796,16 +834,19 @@ private void testLDLTAddTL()
 	private void testLDLTRemove()
 	{
 		int i,j,r;
-		int[] p = new int[MSIZE];
-		double[] A = new double[MSIZE4*MSIZE];
-		double[] L = new double[MSIZE4*MSIZE];
-		double[] d = new double[MSIZE];
-		double[] L2 = new double[MSIZE4*MSIZE];
-		double[] d2 = new double[MSIZE];
-		double[] DL2 = new double[MSIZE4*MSIZE];
-		double[] Atest1 = new double[MSIZE4*MSIZE];
-		double[] Atest2 = new double [MSIZE4*MSIZE];
+		int matrixSize = MSIZE4 * MSIZE;
+		int vectorSize = MSIZE;
+		int[] p = new int[vectorSize];
+		double[] A = new double[matrixSize];
+		double[] L = new double[matrixSize];
+		double[] L2 = new double[matrixSize];
+		double[] DL2 = new double[matrixSize];
+		double[] Atest1 = new double[matrixSize];
+		double[] Atest2 = new double [matrixSize];
+		double[] d = new double[vectorSize];
+		double[] d2 = new double[vectorSize];
 		double diff, maxdiff;
+
 		HEADER();
 
 		// make array of A row pointers
@@ -900,10 +941,14 @@ private void compareMassParams (DMass m1, DMass m2, final String msg)
 		int i,j;
 		boolean ok = true;
 		if (!(cmp(m1.getMass(),m2.getMass()) && cmp(m1.getC().get0(),m2.getC().get0()) &&
-				cmp(m1.getC().get1(),m2.getC().get1()) && cmp(m1.getC().get2(),m2.getC().get2())))
+				cmp(m1.getC().get1(),m2.getC().get1()) && cmp(m1.getC().get2(),m2.getC().get2()))) {
 			ok = false;
-		for (i=0; i<3; i++) for (j=0; j<3; j++)
-			if (cmp (m1.getI().get(i,j),m2.getI().get(i,j))==false) ok = false;
+		}
+		for (i=0; i<3; i++) for (j=0; j<3; j++) {
+			if (cmp(m1.getI().get(i, j), m2.getI().get(i, j)) == false) {
+				ok = false;
+			}
+		}
 		if (ok) println ("\tpassed (", msg, ")"); 
 		else println ("\tFAILED (", msg, ")");
 	}
diff --git a/demo/src/main/java/org/ode4j/demo/DemoPlane2d.java b/demo/src/main/java/org/ode4j/demo/DemoPlane2d.java
index c0135bcd..8108fb4a 100644
--- a/demo/src/main/java/org/ode4j/demo/DemoPlane2d.java
+++ b/demo/src/main/java/org/ode4j/demo/DemoPlane2d.java
@@ -177,7 +177,9 @@ public void step (boolean pause) {
 			{
 				//dSpaceCollide (coll_space_id, 0, cb_near_collision);
 				OdeHelper.spaceCollide (g_globals_ptr.coll_space_id, null, myNearCallBack );
-				g_globals_ptr.dyn_world.step (TIME_STEP/n);
+				// TODO See issue #15, step() causes weird spinning and console errors
+				// g_globals_ptr.dyn_world.step (TIME_STEP/n);
+				g_globals_ptr.dyn_world.quickStep (TIME_STEP/n);
 				g_globals_ptr.coll_contacts.empty ();
 			}
 		}
diff --git a/demo/src/main/java/org/ode4j/demo/Halton235Geom.java b/demo/src/main/java/org/ode4j/demo/Halton235Geom.java
new file mode 100644
index 00000000..22f9ab20
--- /dev/null
+++ b/demo/src/main/java/org/ode4j/demo/Halton235Geom.java
@@ -0,0 +1,1280 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
+ * details.                                                              *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.demo;
+// Generated by ./Tools/mksrc.py
+
+import static org.ode4j.demo.Halton235Geom40.*;
+
+public class Halton235Geom {
+// h41
+public static final int h41_numv = 18;
+public static final int h41_numf = 11;
+public static final double h41_volu = 0.076473;
+public static final double[] h41_pos = { 0.741085,-0.876917,-0.246261 };
+public static final double[] h41_verts = { // [ h41_numv * 3 ] = {
+  0.005338,0.140795,-0.243701, -0.174437,0.183555,0.146798, 0.258916,-0.123083,-0.387389, 0.103129,0.222017,-0.142233, 0.164192,-0.123083,-0.418224, 0.016133,-0.123083,0.397585, 0.258916,0.168617,-0.137303, 0.258916,-0.123083,0.279039, -0.343073,-0.123083,0.222192, -0.064041,0.243655,-0.068027, -0.104715,0.171264,-0.169812, -0.390960,-0.123083,-0.011633, -0.224559,0.130032,0.149857, -0.379049,-0.089936,-0.038730, -0.349233,-0.075342,-0.102654, -0.337817,-0.123083,-0.124077, 0.258916,-0.009416,0.259549, 0.064164,0.013692,0.350680, 
+};
+public static final int[] h41_faces = { // [] = {
+  6, 9,10,14,13,12,1,
+  5, 12,8,5,17,1,
+  6, 17,16,6,3,9,1,
+  5, 4,0,3,6,2,
+  4, 6,16,7,2,
+  7, 7,5,8,11,15,4,2,
+  4, 0,10,9,3,
+  5, 15,14,10,0,4,
+  4, 7,16,17,5,
+  4, 12,13,11,8,
+  4, 13,14,15,11,
+};
+public static final double[] h41_planes = { // [ h41_numf * 4 ] = {
+  -0.722578,0.66608,-0.18498,0.221152,-0.398278,0.419585,0.815673,0.266231,0.287163,0.873965,0.392074,0.167884,0.239912,0.631869,-0.73701,0.269854,1,0,0,0.258915,0,-1,0,0.123083,-0.131611,0.83191,-0.539077,0.2478,-0.488522,0.25733,-0.833743,0.236806,0.433652,0.152285,0.888119,0.341356,-0.870583,0.45858,0.178295,0.281846,-0.903842,-0.0244154,-0.42717,0.361341
+};
+// h42
+public static final int h42_numv = 26;
+public static final int h42_numf = 15;
+public static final double h42_volu = 0.137951;
+public static final double[] h42_pos = { 0.814994,-0.482932,0.027418 };
+public static final double[] h42_verts = { // [ h42_numv * 3 ] = {
+  -0.063211,-0.056769,0.373950, 0.185005,0.097851,0.415613, -0.248347,-0.210430,-0.126881, 0.112828,0.023604,-0.394042, -0.108847,0.115253,0.400661, -0.327055,-0.025089,-0.038931, -0.085789,0.224192,-0.255901, 0.185005,-0.403401,-0.014130, 0.185005,-0.225368,-0.410982, -0.009747,-0.380293,0.077002, -0.175394,0.222730,-0.208732, 0.002670,0.221670,0.389944, -0.150794,0.083523,0.392660, 0.160182,0.229752,0.436714, 0.133897,0.345057,0.231744, -0.006362,0.255606,0.329122, 0.185005,0.234054,0.438967, 0.185005,0.352490,0.238788, 0.029219,-0.171968,-0.415912, -0.137952,-0.150330,-0.341706, 0.185005,0.276769,-0.150723, 0.185005,0.010082,-0.390796, -0.176045,0.220413,-0.220256, -0.242698,0.103211,-0.226628, -0.268948,0.102325,0.213307, -0.248100,0.136462,0.190657, 
+};
+public static final int[] h42_faces = { // [] = {
+  4, 0,9,7,1,
+  7, 7,8,21,20,17,16,1,
+  6, 16,13,4,12,0,1,
+  4, 5,23,19,2,
+  6, 19,18,8,7,9,2,
+  6, 9,0,12,24,5,2,
+  4, 6,20,21,3,
+  4, 21,8,18,3,
+  6, 18,19,23,22,6,3,
+  3, 13,11,4,
+  6, 11,15,25,24,12,4,
+  6, 24,25,10,22,23,5,
+  6, 22,10,14,17,20,6,
+  4, 25,15,14,10,
+  6, 13,16,17,14,15,11,
+};
+public static final double[] h42_planes = { // [ h42_numf * 4 ] = {
+  0.267862,-0.627092,0.731441,0.29219,1,2.67045e-16,1.9344e-17,0.185006,-0.0600487,-0.168696,0.983837,0.381279,-0.864691,-0.138024,-0.482969,0.305068,-0.287163,-0.873965,-0.392074,0.304972,-0.73808,-0.518378,0.431882,0.237585,0.156805,0.660773,-0.734024,0.322525,0.0606999,0.0852635,-0.994508,0.400738,-0.364346,0.255892,-0.895417,0.317763,-0.280943,0.383024,0.879979,0.427298,-0.590109,0.664552,0.458413,0.324491,-0.86695,0.495807,-0.0507289,0.273077,-0.11569,0.975032,-0.189546,0.277024,-0.485104,0.868795,0.0993492,0.257853,-0.191731,0.844679,0.499756,0.381605
+};
+// h43
+public static final int h43_numv = 26;
+public static final int h43_numf = 15;
+public static final double h43_volu = 0.091347;
+public static final double[] h43_pos = { -0.439313,0.395062,-0.161996 };
+public static final double[] h43_verts = { // [ h43_numv * 3 ] = {
+  -0.171800,0.355423,-0.143529, -0.041887,-0.040549,-0.338294, -0.088904,0.443945,0.033555, -0.050746,0.256028,0.267789, -0.120718,0.085236,0.331241, 0.112903,-0.317075,-0.192421, -0.024680,-0.380539,0.081401, 0.014540,-0.410443,-0.096363, -0.166472,-0.135578,-0.232924, -0.179653,0.199344,0.219565, 0.056744,-0.387608,-0.004660, -0.088904,0.425462,0.081094, -0.046327,-0.413563,-0.075262, -0.024725,0.299814,0.247575, -0.150602,0.151087,0.286944, -0.050613,-0.134365,0.334664, -0.244880,0.199344,-0.098926, -0.122184,0.302440,-0.201067, -0.108793,0.292906,-0.209241, -0.034597,-0.039973,-0.340964, 0.309817,-0.173124,-0.053206, -0.070119,0.430571,0.022089, 0.002939,0.029802,-0.334091, 0.280604,-0.188322,-0.121373, 0.290359,0.017349,0.142160, 0.257236,0.070405,0.149235, 
+};
+public static final int[] h43_faces = { // [] = {
+  5, 8,16,0,17,1,
+  5, 17,18,22,19,1,
+  6, 19,5,7,12,8,1,
+  5, 21,18,17,0,2,
+  5, 0,16,9,11,2,
+  5, 11,13,25,21,2,
+  6, 4,15,24,25,13,3,
+  5, 13,11,9,14,3,
+  3, 14,4,3,
+  8, 14,9,16,8,12,6,15,4,
+  4, 19,22,23,5,
+  5, 23,20,10,7,5,
+  5, 10,20,24,15,6,
+  4, 12,7,10,6,
+  7, 21,25,24,20,23,22,18,
+};
+public static final double[] h43_planes = { // [ h43_numf * 4 ] = {
+  -0.693474,0.121763,-0.710118,0.264339,-0.349687,0.276295,-0.895198,0.306284,-0.24653,-0.556538,-0.793403,0.301297,0.256638,0.811103,-0.525594,0.319633,-0.870583,0.45858,0.178295,0.286965,0.662611,0.698059,0.271405,0.260098,0.433652,0.152285,0.888119,0.254811,-0.49733,0.589429,0.636582,0.346617,-0.296224,0.4369,0.849335,0.354333,-0.935836,-0.295766,0.191659,0.151248,0.501077,-0.186311,-0.84511,0.278264,0.632147,-0.768422,-0.0995875,0.334181,0.582464,-0.552261,0.596443,0.244332,0.11569,-0.975032,0.189546,0.383611,0.73808,0.518378,-0.431882,0.161906
+};
+// h44
+public static final int h44_numv = 26;
+public static final int h44_numf = 15;
+public static final double h44_volu = 0.104111;
+public static final double[] h44_pos = { -0.656166,-0.300748,0.215302 };
+public static final double[] h44_verts = { // [ h44_numv * 3 ] = {
+  -0.220317,0.235145,-0.208278, 0.078796,0.351295,-0.102059, 0.283317,-0.102949,0.430780, 0.285327,-0.088643,0.424402, 0.201177,0.226255,-0.138992, 0.124677,-0.319431,0.033433, 0.117727,0.304230,-0.184196, 0.043064,-0.325887,0.063320, -0.138842,0.186808,-0.302762, 0.311997,0.075640,-0.076273, 0.067923,-0.171282,-0.181336, -0.343834,-0.050448,-0.267282, -0.343834,-0.078267,-0.052628, -0.343834,0.035932,0.053112, 0.088073,0.239020,0.159535, 0.282143,-0.129188,0.406909, -0.286183,0.003244,-0.364214, -0.343834,0.054532,0.043544, 0.011578,-0.313217,0.111616, 0.329134,0.030906,-0.011422, 0.089881,-0.140507,0.355648, 0.092412,-0.225203,0.279944, 0.288380,-0.225380,0.170160, 0.101854,0.336248,-0.130909, -0.343834,-0.006528,-0.335059, -0.343834,0.160238,-0.192084, 
+};
+public static final int[] h44_faces = { // [] = {
+  7, 14,3,19,9,4,23,1,
+  5, 23,6,8,0,1,
+  5, 0,25,17,14,1,
+  5, 15,22,19,3,2,
+  6, 3,14,17,13,20,2,
+  4, 20,21,15,2,
+  6, 9,10,16,8,6,4,
+  3, 6,23,4,
+  6, 22,15,21,18,7,5,
+  6, 7,11,24,16,10,5,
+  5, 10,9,19,22,5,
+  4, 18,12,11,7,
+  5, 16,24,25,0,8,
+  6, 12,13,17,25,24,11,
+  5, 18,21,20,13,12,
+};
+public static final double[] h44_planes = { // [ h44_numf * 4 ] = {
+  0.727924,0.639056,0.248465,0.256497,-0.131611,0.83191,-0.539077,0.336893,-0.446963,0.816184,0.366152,0.214133,0.991673,-0.108076,0.0700326,0.322253,-0.398278,0.419585,0.815673,0.19534,-0.156805,-0.660773,0.734024,0.339803,0.438192,-0.051293,-0.897417,0.201283,0.722578,0.66608,-0.18498,0.321781,0.20808,-0.904248,0.372879,0.327254,-0.131611,-0.83191,-0.539077,0.231306,0.708232,-0.479648,-0.518021,0.224196,-0.512085,-0.851811,-0.110395,0.248551,-0.443092,0.583496,-0.68059,0.376579,-1,6.26681e-16,4.55506e-17,0.343834,-0.619037,-0.533581,0.576268,0.22428
+};
+// h45
+public static final int h45_numv = 22;
+public static final int h45_numf = 13;
+public static final double h45_volu = 0.073607;
+public static final double[] h45_pos = { -0.692003,0.228592,-0.074767 };
+public static final double[] h45_verts = { // [ h45_numv * 3 ] = {
+  0.206363,-0.247093,-0.162491, 0.114633,-0.178045,0.188010, 0.007810,0.365814,-0.186155, -0.306616,-0.033345,0.126518, -0.055718,0.198405,0.254002, 0.153565,-0.225110,0.105873, -0.184480,-0.294195,0.081791, 0.073037,0.365814,0.132336, 0.155930,-0.080562,0.225951, -0.173050,0.172678,-0.175116, -0.103005,-0.342532,-0.012694, -0.015749,-0.330108,-0.146901, 0.086218,0.030892,-0.320153, -0.015750,-0.032626,-0.299926, 0.228010,-0.214069,-0.005829, 0.104078,0.176805,0.286842, 0.137691,-0.193092,0.159160, 0.102087,0.317557,0.199715, -0.062260,0.197254,0.252076, 0.131971,0.251706,0.244012, 0.186972,0.021095,0.262581, 0.202077,0.032105,0.247435, 
+};
+public static final int[] h45_faces = { // [] = {
+  8, 8,20,15,4,18,3,6,1,
+  5, 6,10,5,16,1,
+  3, 16,8,1,
+  4, 12,13,9,2,
+  5, 9,3,18,7,2,
+  8, 7,17,19,21,14,0,12,2,
+  6, 9,13,11,10,6,3,
+  4, 15,19,17,4,
+  4, 17,7,18,4,
+  6, 14,21,20,8,16,5,
+  5, 10,11,0,14,5,
+  4, 13,12,0,11,
+  4, 20,21,19,15,
+};
+public static final double[] h45_planes = { // [ h45_numf * 4 ] = {
+  -0.228531,-0.267508,0.936063,0.19742,0.131611,-0.83191,0.539077,0.264556,0.535431,-0.493566,0.685351,0.278107,-0.349687,0.276295,-0.895198,0.264987,-0.717787,0.680568,0.147003,0.21599,0.935836,0.295766,-0.191659,0.151183,-0.793213,-0.278551,-0.5415,0.183991,-0.103318,0.522457,0.846383,0.324397,-0.311731,0.703731,0.638425,0.319154,0.777333,-0.40946,0.477593,0.262108,0.35532,-0.923345,0.145539,0.277827,0.107916,-0.45476,-0.884052,0.278288,0.613049,0.207593,0.762283,0.319163
+};
+// h46
+public static final int h46_numv = 24;
+public static final int h46_numf = 14;
+public static final double h46_volu = 0.077166;
+public static final double[] h46_pos = { -0.506861,-0.263372,-0.148064 };
+public static final double[] h46_verts = { // [ h46_numv * 3 ] = {
+  -0.435488,-0.034132,-0.000849, 0.039076,-0.286247,0.028683, -0.031577,0.266854,0.179170, 0.042868,0.277895,0.067468, 0.334025,-0.207064,-0.069876, -0.200891,0.161856,-0.073604, -0.329922,-0.035641,-0.192524, -0.391003,-0.070120,-0.144257, 0.124292,0.270826,-0.018593, -0.288147,0.149432,0.060603, 0.051872,0.188879,0.224374, -0.081382,-0.208658,0.182030, 0.243097,0.052743,0.247717, 0.267097,-0.250173,-0.073376, 0.162691,0.038264,0.287094, 0.339607,0.040898,0.152251, 0.238297,0.049029,0.252023, 0.349700,0.004968,0.138697, 0.021220,0.244871,-0.089194, -0.322311,-0.040247,-0.199445, -0.016599,-0.019353,-0.300951, 0.082088,0.247991,-0.110295, -0.339273,-0.043963,-0.190526, 0.082087,0.036350,-0.291745, 
+};
+public static final int[] h46_faces = { // [] = {
+  6, 7,22,19,20,13,1,
+  7, 13,4,17,16,14,11,1,
+  4, 11,0,7,1,
+  6, 10,12,15,8,3,2,
+  5, 3,18,5,9,2,
+  6, 9,0,11,14,10,2,
+  4, 8,21,18,3,
+  4, 13,20,23,4,
+  6, 23,21,8,15,17,4,
+  7, 18,21,23,20,19,6,5,
+  6, 6,22,7,0,9,5,
+  3, 19,22,6,
+  4, 14,16,12,10,
+  4, 16,17,15,12,
+};
+public static final double[] h46_planes = { // [ h46_numf * 4 ] = {
+  -0.148211,-0.780702,-0.607074,0.200269,0.391463,-0.659847,0.641373,0.222573,-0.471464,-0.878752,0.0742736,0.235248,0.496382,0.766976,0.406636,0.261853,-0.35532,0.923345,-0.145539,0.231542,-0.438192,0.051293,0.897417,0.188315,-0.11569,0.975032,-0.189546,0.253209,0.322885,-0.43293,-0.841615,0.256305,0.792041,0.39734,-0.463457,0.214671,-0.284317,0.624016,-0.727852,0.21169,-0.66062,0.653782,-0.368986,0.26569,-0.494656,0.366713,-0.787932,0.301823,0.289106,0.541464,0.789452,0.2944,0.696788,-0.0734069,0.713511,0.342264
+};
+// h47
+public static final int h47_numv = 36;
+public static final int h47_numf = 20;
+public static final double h47_volu = 0.096745;
+public static final double[] h47_pos = { -0.132135,0.108975,0.072319 };
+public static final double[] h47_verts = { // [ h47_numv * 3 ] = {
+  0.298509,0.263511,-0.009995, -0.406303,-0.105494,-0.041213, 0.295351,0.263929,-0.015607, -0.362255,0.123840,0.142831, -0.016819,0.303436,-0.092155, 0.214655,-0.206919,0.163772, 0.119596,0.038081,0.333996, -0.357791,0.151721,0.100349, 0.141669,-0.202865,0.220831, -0.322854,-0.183468,0.003991, -0.422177,-0.073475,0.012073, 0.248529,0.277838,-0.020262, -0.331858,-0.094452,-0.152914, -0.250434,-0.101521,-0.238975, -0.131628,-0.319604,0.027334, 0.281027,0.056414,-0.190466, 0.134068,0.286800,-0.104666, 0.293847,0.266235,0.003176, -0.403938,0.039055,0.078865, -0.372896,0.140712,0.115495, -0.035119,-0.331449,-0.068132, 0.121232,-0.294347,-0.049046, 0.051634,0.305873,-0.087560, 0.254870,0.274829,-0.031097, 0.196475,0.139795,-0.254001, 0.002640,0.112963,-0.287521, 0.198447,0.073853,0.288417, 0.224142,0.132346,-0.243414, 0.225218,-0.213510,0.136980, 0.298178,-0.027388,0.023425, 0.292448,0.199019,0.106734, 0.304944,0.253729,-0.022071, 0.308556,0.186869,0.065231, 0.305066,0.254217,-0.020526, 0.293027,0.163885,-0.150423, 0.287364,0.062429,-0.181183, 
+};
+public static final int[] h47_faces = { // [] = {
+  6, 12,13,20,14,9,1,
+  3, 9,10,1,
+  6, 10,18,19,7,12,1,
+  4, 0,33,31,2,
+  7, 31,34,27,24,16,23,2,
+  5, 23,11,17,0,2,
+  10, 6,26,30,17,11,22,4,7,19,3,
+  3, 19,18,3,
+  7, 18,10,9,14,8,6,3,
+  5, 22,16,24,25,4,
+  5, 25,13,12,7,4,
+  6, 28,29,32,30,26,5,
+  4, 26,6,8,5,
+  6, 8,14,20,21,28,5,
+  4, 23,16,22,11,
+  7, 25,24,27,15,21,20,13,
+  4, 27,34,35,15,
+  5, 35,29,28,21,15,
+  5, 30,32,33,0,17,
+  6, 35,34,31,33,32,29,
+};
+public static final double[] h47_planes = { // [ h47_numf * 4 ] = {
+  -0.496382,-0.766976,-0.406636,0.299351,-0.722578,-0.66608,0.18498,0.35623,-0.777333,0.40946,-0.477593,0.292321,0.60243,0.746152,-0.283435,0.379283,0.40667,0.730271,-0.54893,0.321417,0.292039,0.95183,-0.0934524,0.338928,-0.066237,0.837367,0.542613,0.205196,-0.897445,0.121213,0.424146,0.400696,-0.398278,-0.419584,0.815674,0.208821,0.0212658,0.716912,-0.696839,0.281397,-0.582464,0.552261,-0.596443,0.232337,0.913105,-0.120244,0.389591,0.284687,0.576312,-0.303571,0.758755,0.310786,0.184883,-0.934913,0.302912,0.282746,0.191593,0.968844,-0.156953,0.319978,0.212159,-0.447018,-0.869002,0.19992,0.770892,0.145024,-0.620237,0.342957,0.836212,-0.484521,-0.256884,0.256592,0.900933,0.358346,0.24476,0.360918,0.997066,-0.0350131,-0.0680664,0.296668
+};
+// h48
+public static final int h48_numv = 24;
+public static final int h48_numf = 14;
+public static final double h48_volu = 0.097516;
+public static final double[] h48_pos = { 0.292729,-0.243911,-0.041409 };
+public static final double[] h48_verts = { // [ h48_numv * 3 ] = {
+  -0.303632,0.058539,0.064682, -0.108656,-0.084639,-0.284158, 0.263889,0.072976,-0.223666, 0.274166,-0.102559,0.259484, 0.253318,-0.136696,0.282134, 0.346872,-0.016291,-0.139905, -0.290945,-0.203383,-0.035982, 0.008763,0.056080,-0.365621, 0.246275,0.103070,-0.201305, 0.107569,-0.173012,0.336398, -0.249499,-0.215623,0.017984, -0.234675,-0.199275,-0.122635, 0.023817,-0.271216,0.180037, 0.169540,-0.271216,0.037729, -0.126686,0.325499,0.137154, 0.195210,-0.264110,0.029895, 0.346221,-0.018608,-0.151429, 0.279567,-0.135810,-0.157801, -0.143837,0.409300,-0.076739, -0.137500,0.415315,-0.067456, -0.031223,0.088614,-0.351675, -0.000004,-0.036295,-0.345501, -0.199646,0.139376,0.250708, -0.108109,-0.019468,0.310070, 
+};
+public static final int[] h48_faces = { // [] = {
+  4, 20,7,21,1,
+  6, 21,17,15,13,11,1,
+  6, 11,6,0,18,20,1,
+  5, 16,17,21,7,2,
+  6, 7,20,18,19,8,2,
+  4, 8,5,16,2,
+  6, 14,22,23,9,4,3,
+  6, 4,15,17,16,5,3,
+  5, 5,8,19,14,3,
+  5, 9,12,13,15,4,
+  5, 10,23,22,0,6,
+  5, 11,13,12,10,6,
+  4, 23,10,12,9,
+  5, 19,18,0,22,14,
+};
+public static final double[] h48_planes = { // [ h48_numf * 4 ] = {
+  -0.433652,-0.152283,-0.888119,0.312375,0.066237,-0.837367,-0.542613,0.217865,-0.830851,0.164118,-0.531744,0.227486,0.484779,-0.229821,-0.843903,0.299909,0.322183,0.678839,-0.659831,0.282141,0.794108,0.585614,-0.162633,0.288667,0.212159,0.447018,0.869002,0.237812,0.86695,-0.495807,0.0507289,0.301701,0.66261,0.69806,0.271405,0.180498,0.348894,-0.86639,0.357268,0.30761,-0.794364,-0.251059,0.553132,0.262275,-0.124536,-0.983986,-0.127525,0.240948,-0.49733,-0.589428,0.636583,0.262626,-0.836212,0.484521,0.256884,0.29888
+};
+// h49
+public static final int h49_numv = 30;
+public static final int h49_numf = 17;
+public static final double h49_volu = 0.103417;
+public static final double[] h49_pos = { -0.082648,-0.117151,-0.277803 };
+public static final double[] h49_verts = { // [ h49_numv * 3 ] = {
+  0.344154,-0.038146,-0.115281, -0.165239,0.018854,-0.286732, -0.342125,0.101770,0.019444, -0.222234,-0.108669,-0.237036, -0.321677,-0.099820,-0.189997, 0.084432,-0.330143,0.200412, -0.076061,0.323891,-0.005566, -0.299921,0.124605,0.111147, -0.223248,0.024754,-0.259418, 0.141702,0.335375,-0.073499, 0.231540,0.282540,0.159656, 0.156937,0.153559,-0.266131, -0.243762,0.195138,-0.076614, -0.084607,-0.105324,0.281990, 0.266721,-0.211399,-0.047765, 0.071745,-0.068221,0.301076, -0.090188,-0.353285,0.059864, -0.342125,-0.109871,-0.162005, -0.074513,-0.141253,0.268436, 0.140702,-0.326035,0.113759, 0.082436,-0.372046,-0.016546, 0.056586,-0.396243,0.036572, 0.007365,-0.408266,0.085169, 0.068619,-0.340196,0.196052, 0.183372,0.187050,-0.241355, 0.271282,0.058201,-0.185174, 0.174655,0.358472,0.106708, -0.046848,0.339089,0.062601, 0.146988,0.365921,0.096121, 0.157998,0.356836,0.037994, 
+};
+public static final int[] h49_faces = { // [] = {
+  4, 3,4,8,1,
+  7, 8,12,6,9,24,11,1,
+  7, 11,25,0,14,20,3,1,
+  6, 17,16,18,13,7,2,
+  5, 7,27,6,12,2,
+  5, 12,8,4,17,2,
+  7, 20,21,22,16,17,4,3,
+  5, 15,13,18,23,5,
+  5, 23,22,21,19,5,
+  6, 19,14,0,10,15,5,
+  5, 27,28,29,9,6,
+  7, 13,15,10,26,28,27,7,
+  7, 29,26,10,0,25,24,9,
+  3, 24,25,11,
+  4, 19,21,20,14,
+  4, 22,23,18,16,
+  3, 29,28,26,
+};
+public static final double[] h49_planes = { // [ h49_numf * 4 ] = {
+  -0.433652,-0.152283,-0.888119,0.323437,-0.247318,0.694798,-0.675344,0.247609,0.240814,-0.443968,-0.863077,0.199309,-0.792041,-0.39734,0.463457,0.239551,-0.632147,0.768422,0.0995875,0.296413,-0.805487,0.385719,-0.449901,0.306085,-0.315015,-0.796483,-0.516121,0.2789,-0.0284606,-0.359798,0.932596,0.303286,0.465257,-0.845503,0.262033,0.370934,0.830851,-0.164118,0.531744,0.230901,-0.105626,0.979232,-0.173057,0.326162,-0.212159,0.447018,0.869002,0.215918,0.847832,0.483811,-0.217045,0.29835,0.621965,0.0849382,-0.778424,0.317815,0.654405,-0.755705,-0.0257735,0.33553,-0.49733,-0.589428,0.636583,0.291198,0.292039,0.95183,-0.0934524,0.382238
+};
+// h50
+public static final int h50_numv = 20;
+public static final int h50_numf = 12;
+public static final double h50_volu = 0.069183;
+public static final double[] h50_pos = { -0.304007,-0.060848,0.383791 };
+public static final double[] h50_verts = { // [ h50_numv * 3 ] = {
+  0.035443,-0.153495,-0.279832, 0.291468,0.207904,0.022524, -0.264086,-0.000880,-0.008953, -0.190383,0.293663,-0.168640, 0.004043,-0.311521,0.367447, -0.001962,-0.311376,0.364440, -0.150982,-0.013645,-0.307481, -0.250305,0.096348,-0.299398, 0.040243,-0.149781,-0.284138, -0.040162,-0.164260,-0.244761, -0.228192,0.064423,0.060664, 0.001805,-0.312717,0.366969, -0.232066,0.208878,-0.232607, -0.273363,0.111395,-0.270548, 0.313541,-0.033043,-0.090641, -0.003673,-0.314626,0.361097, -0.023025,-0.208994,-0.179911, -0.066832,-0.328543,0.255913, -0.170020,0.271491,-0.017447, 0.190786,0.198102,0.196479, 
+};
+public static final int[] h50_faces = { // [] = {
+  4, 3,18,19,1,
+  4, 19,4,14,1,
+  7, 14,8,6,7,12,3,1,
+  6, 10,18,3,12,13,2,
+  7, 13,7,6,9,16,17,2,
+  5, 17,15,5,10,2,
+  8, 11,15,17,16,0,8,14,4,
+  6, 19,18,10,5,11,4,
+  3, 15,11,5,
+  4, 8,0,9,6,
+  3, 13,12,7,
+  3, 0,16,9,
+};
+public static final double[] h50_planes = { // [ h50_numf * 4 ] = {
+  0.124536,0.983986,0.127525,0.243745,0.859244,-0.150868,0.488814,0.230086,0.398278,0.419584,-0.815674,0.184946,-0.929286,0.326334,0.173016,0.243575,-0.727924,-0.639056,-0.248465,0.195021,-0.848621,-0.0894025,0.521393,0.219519,0.493232,-0.850288,-0.183662,0.199392,-0.398278,0.419584,0.815674,0.167397,-0.604872,-0.393584,0.692258,0.376026,-0.289106,-0.541464,-0.789452,0.293779,-0.535431,0.493566,-0.685351,0.386768,-0.131611,-0.83191,-0.539077,0.273881
+};
+// h51
+public static final int h51_numv = 20;
+public static final int h51_numf = 12;
+public static final double h51_volu = 0.097496;
+public static final double[] h51_pos = { 0.796238,0.092236,-0.101631 };
+public static final double[] h51_verts = { // [ h51_numv * 3 ] = {
+  -0.221011,0.347408,0.061823, -0.319697,0.291705,0.052616, 0.203762,-0.222678,0.367837, -0.200562,0.357460,0.033830, 0.203762,0.194344,-0.275142, -0.239620,-0.263171,-0.163444, 0.152653,-0.230111,0.360793, 0.203762,0.321480,-0.157424, -0.337380,0.280442,0.025237, -0.327866,0.285347,0.016786, -0.028332,0.052718,-0.315616, 0.203762,-0.298399,-0.021674, -0.257234,-0.233077,-0.141083, -0.157288,-0.354755,-0.091207, 0.203762,0.006585,0.328526, -0.156637,-0.352438,-0.079683, 0.030926,0.103995,0.283692, -0.036002,0.060886,0.280191, -0.157223,-0.222560,-0.236947, -0.067033,-0.350976,-0.126852, 
+};
+public static final int[] h51_faces = { // [] = {
+  4, 17,16,0,1,
+  5, 0,3,9,8,1,
+  6, 8,12,15,6,17,1,
+  5, 14,16,17,6,2,
+  6, 6,15,13,19,11,2,
+  5, 11,4,7,14,2,
+  5, 7,4,10,9,3,
+  5, 0,16,14,7,3,
+  5, 11,19,18,10,4,
+  4, 18,19,13,5,
+  4, 13,15,12,5,
+  6, 12,8,9,10,18,5,
+};
+public static final double[] h51_planes = { // [ h51_numf * 4 ] = {
+  -0.322885,0.43293,0.841615,0.273796,-0.488006,0.871758,-0.0434538,0.408025,-0.73548,-0.309929,0.602505,0.176424,-0.158394,0.166869,0.973173,0.288536,0.11569,-0.975032,0.189546,0.310413,1,0,0,0.203762,-0.275531,0.653109,-0.705359,0.26486,0.315015,0.796483,0.516121,0.238991,0.398278,-0.419585,-0.815673,0.224036,-0.228161,-0.721101,-0.654183,0.351367,-0.794108,-0.585614,0.162633,0.31782,-0.693474,0.121763,-0.710118,0.250191
+};
+// h52
+public static final int h52_numv = 16;
+public static final int h52_numf = 10;
+public static final double h52_volu = 0.084293;
+public static final double[] h52_pos = { 0.513157,0.018456,0.067444 };
+public static final double[] h52_verts = { // [ h52_numv * 3 ] = {
+  -0.347114,0.063132,0.028301, -0.352265,0.254404,-0.145548, 0.247079,0.134666,0.111116, -0.336736,0.277388,0.070106, 0.126444,-0.278658,-0.248758, -0.340226,0.344736,-0.015651, 0.295476,-0.245782,0.289096, -0.054299,0.354222,-0.143838, 0.053738,-0.364926,0.150631, -0.036616,0.365485,-0.116459, 0.025847,-0.159297,-0.310158, -0.357928,0.152948,-0.176308, 0.019058,0.098592,0.213176, 0.435734,-0.156331,0.191718, -0.340348,0.344248,-0.017196, -0.236518,0.326242,-0.134679, 
+};
+public static final int[] h52_faces = { // [] = {
+  3, 14,15,1,
+  5, 15,7,10,11,1,
+  6, 11,0,3,5,14,1,
+  4, 12,6,13,2,
+  6, 13,4,10,7,9,2,
+  5, 9,5,3,12,2,
+  5, 0,8,6,12,3,
+  4, 13,6,8,4,
+  5, 8,0,11,10,4,
+  5, 9,7,15,14,5,
+};
+public static final double[] h52_planes = { // [ h52_numf * 4 ] = {
+  -0.425203,0.759567,-0.4922,0.41466,-0.0929092,0.293639,-0.951391,0.245904,-0.997066,0.0350131,0.0680664,0.350232,0.309646,0.434949,0.84554,0.229033,0.73548,0.309929,-0.602505,0.156511,0.148211,0.780702,0.607074,0.209209,-0.433652,-0.152285,0.888119,0.166047,0.485104,-0.868795,-0.0993492,0.328149,-0.66261,-0.69806,-0.271405,0.17825,-0.159459,0.944944,-0.285751,0.38448
+};
+// h53
+public static final int h53_numv = 16;
+public static final int h53_numf = 10;
+public static final double h53_volu = 0.086476;
+public static final double[] h53_pos = { -0.781555,0.807509,0.197497 };
+public static final double[] h53_verts = { // [ h53_numv * 3 ] = {
+  0.291496,-0.156419,-0.091704, -0.218445,0.192491,0.461269, -0.218445,0.192491,-0.255541, -0.218445,-0.397567,0.047987, 0.027292,-0.381663,-0.020188, -0.218445,-0.373860,0.169935, 0.033835,-0.380512,-0.018262, 0.352556,0.192491,0.043056, 0.162589,-0.213103,-0.139928, 0.191640,-0.261360,-0.072549, 0.238502,0.192491,-0.291089, 0.253338,0.013015,-0.278399, 0.326334,-0.087525,-0.081781, 0.317517,-0.112633,-0.111918, 0.238502,0.081667,-0.310092, 0.153590,0.192491,-0.346370, 
+};
+public static final int[] h53_faces = { // [] = {
+  7, 5,6,9,0,12,7,1,
+  5, 7,10,15,2,1,
+  4, 2,3,5,1,
+  7, 15,14,11,8,4,3,2,
+  4, 4,6,5,3,
+  4, 8,9,6,4,
+  6, 12,13,11,14,10,7,
+  5, 11,13,0,9,8,
+  3, 14,15,10,
+  3, 0,13,12,
+};
+public static final double[] h53_planes = { // [ h53_numf * 4 ] = {
+  0.545755,-0.383303,0.745138,0.150709,-0,1,0,0.192491,-1,0,-0,0.218445,-0.212159,-0.447018,-0.869002,0.182363,0.11569,-0.975032,0.189546,0.371464,0.311731,-0.703731,-0.638425,0.289984,0.944939,0.0553043,-0.322539,0.329903,0.49733,-0.589429,-0.636582,0.295545,0.540055,0.142236,-0.829524,0.397648,0.877441,-0.462191,0.128357,0.316295
+};
+// h54
+public static final int h54_numv = 20;
+public static final int h54_numf = 12;
+public static final double h54_volu = 0.089003;
+public static final double[] h54_pos = { -0.845912,0.679404,-0.140778 };
+public static final double[] h54_verts = { // [ h54_numv * 3 ] = {
+  0.317695,0.141120,0.059877, 0.091649,-0.253558,0.318087, -0.154088,0.080768,-0.359617, -0.152707,-0.484157,0.192529, -0.154088,0.320596,0.082735, 0.078976,0.204301,-0.281846, -0.154088,-0.269462,0.386262, -0.154088,0.320596,-0.236248, -0.154088,-0.484416,0.192760, 0.226946,-0.084997,0.198347, 0.060656,0.320596,-0.223141, 0.161719,-0.084997,-0.120143, 0.217947,0.320596,-0.008094, -0.049829,0.124065,-0.330981, -0.154088,-0.230098,-0.199706, -0.019141,-0.278134,-0.109104, 0.160374,0.124065,-0.228342, 0.234799,0.071081,-0.164747, 0.302859,0.209772,0.028184, 0.317695,0.159603,0.012337, 
+};
+public static final int[] h54_faces = { // [] = {
+  4, 6,8,3,1,
+  5, 3,15,11,9,1,
+  7, 9,0,18,12,4,6,1,
+  5, 7,10,5,13,2,
+  7, 13,16,17,11,15,14,2,
+  6, 14,8,6,4,7,2,
+  4, 8,14,15,3,
+  4, 12,10,7,4,
+  7, 10,12,18,19,17,16,5,
+  3, 16,13,5,
+  5, 11,17,19,0,9,
+  3, 0,19,18,
+};
+public static final double[] h54_planes = { // [ h54_numf * 4 ] = {
+  0.242073,-0.64915,0.721114,0.41616,0.717787,-0.680568,-0.147003,0.191588,0.212159,0.447018,0.869002,0.182518,0.0541955,0.456759,-0.887938,0.347858,0.398278,-0.419585,-0.815673,0.19807,-1,0,0,0.154088,0.066237,-0.837367,-0.542613,0.290833,0,1,0,0.320596,0.742791,0.391264,-0.543299,0.291725,0.433652,-0.152285,-0.888119,0.253448,0.870583,-0.45858,-0.178295,0.201189,0.962317,0.253449,0.0985412,0.34739
+};
+// h55
+public static final int h55_numv = 16;
+public static final int h55_numf = 10;
+public static final double h55_volu = 0.055290;
+public static final double[] h55_pos = { 0.087136,0.788999,0.139771 };
+public static final double[] h55_verts = { // [ h55_numv * 3 ] = {
+  0.076080,-0.416095,-0.083059, -0.323951,0.211001,0.286715, 0.205112,0.211001,-0.185127, 0.076081,0.211001,-0.405639, -0.148237,0.211001,0.332473, 0.101171,-0.226374,0.192117, -0.006832,-0.085411,0.277812, 0.205111,-0.223849,0.038561, -0.274823,0.078877,0.258729, 0.035595,0.211001,-0.415523, 0.074576,-0.413789,-0.064275, 0.079238,-0.416513,-0.077447, 0.107256,-0.249478,0.168347, 0.117855,-0.236273,0.172768, 0.029258,-0.402186,-0.087713, 0.035598,-0.405195,-0.098549, 
+};
+public static final int[] h55_faces = { // [] = {
+  4, 8,6,4,1,
+  5, 4,2,3,9,1,
+  5, 9,15,14,8,1,
+  5, 7,11,0,3,2,
+  6, 4,6,5,13,7,2,
+  4, 0,15,9,3,
+  3, 12,13,5,
+  6, 6,8,14,10,12,5,
+  5, 13,12,10,11,7,
+  5, 14,15,0,11,10,
+};
+public static final double[] h55_planes = { // [ h55_numf * 4 ] = {
+  -0.241471,-0.286187,0.927248,0.283694,0,1,0,0.211001,-0.866617,-0.228251,-0.443708,0.105363,0.835368,-0.251447,-0.48881,0.20878,0.793214,0.278548,0.541501,0.121225,0.212159,-0.447018,-0.869002,0.274321,0.443092,-0.583496,0.68059,0.307669,-0.463507,-0.691764,0.553737,0.216086,0.66062,-0.653782,0.368986,0.296077,-0.292039,-0.95183,0.0934524,0.366071
+};
+// h56
+public static final int h56_numv = 20;
+public static final int h56_numf = 12;
+public static final double h56_volu = 0.096963;
+public static final double[] h56_pos = { -0.186579,0.800379,0.005269 };
+public static final double[] h56_verts = { // [ h56_numv * 3 ] = {
+  0.004502,-0.334912,-0.018030, 0.302973,-0.413566,0.046788, 0.309310,0.199621,-0.281021, -0.242420,0.199621,0.235284, -0.121421,0.199621,0.412527, 0.172708,0.199621,-0.357250, -0.050236,0.199621,0.421217, -0.341638,0.020145,-0.086171, -0.356474,0.199621,-0.098861, 0.097656,0.085128,-0.340236, -0.001108,0.067497,0.393231, -0.356474,0.088797,-0.117864, -0.277459,-0.105503,0.080310, 0.309314,-0.416575,0.035953, 0.106078,-0.385531,-0.020510, 0.188512,-0.404604,-0.037617, -0.268642,-0.080395,0.110447, -0.118494,0.123210,0.393231, -0.341638,0.038628,-0.133710, -0.322853,0.025254,-0.145176, 
+};
+public static final int[] h56_faces = { // [] = {
+  4, 14,15,13,1,
+  5, 13,2,6,10,1,
+  7, 10,17,16,12,0,14,1,
+  5, 13,15,9,5,2,
+  6, 5,8,3,4,6,2,
+  4, 16,17,4,3,
+  6, 8,11,7,12,16,3,
+  4, 17,10,6,4,
+  6, 9,19,18,11,8,5,
+  5, 18,19,0,12,7,
+  3, 11,18,7,
+  5, 15,14,0,19,9,
+};
+public static final double[] h56_planes = { // [ h56_numf * 4 ] = {
+  -0.191593,-0.968844,0.156953,0.349977,0.866617,0.228251,0.443708,0.188925,-0.322183,-0.678838,0.659831,0.214003,0.444511,-0.409753,-0.796563,0.279548,4.04497e-16,1,-1.19541e-16,0.199621,-0.813673,-0.17144,0.555468,0.293719,-0.944939,-0.0553043,0.322539,0.29392,-0.117405,-0.247371,0.961782,0.361636,-0.433652,0.152285,-0.888119,0.272785,-0.662611,-0.698059,-0.271405,0.235698,-0.962317,-0.253449,-0.0985412,0.33215,-0.289106,-0.541462,-0.789453,0.194274
+};
+// h57
+public static final int h57_numv = 16;
+public static final int h57_numf = 10;
+public static final double h57_volu = 0.081294;
+public static final double[] h57_pos = { 0.851151,0.533342,0.098902 };
+public static final double[] h57_verts = { // [ h57_numv * 3 ] = {
+  -0.184097,0.265595,0.004922, 0.148849,0.009818,-0.380153, 0.148849,-0.049459,0.325702, -0.275924,-0.093697,-0.138710, 0.148849,-0.119626,-0.357957, -0.275924,0.137573,0.059567, -0.112901,0.343928,0.059438, -0.249462,0.157589,0.121951, 0.148849,-0.434521,0.127992, 0.148849,0.447452,0.070089, 0.148849,-0.343521,0.212252, -0.023987,-0.337111,0.083159, -0.018406,-0.089149,0.305285, -0.008312,-0.125079,0.291731, -0.255475,-0.083645,-0.166703, -0.157047,0.040928,-0.236124, 
+};
+public static final int[] h57_faces = { // [] = {
+  4, 4,14,15,1,
+  5, 15,0,6,9,1,
+  6, 9,2,10,8,4,1,
+  4, 12,13,10,2,
+  5, 9,6,7,12,2,
+  5, 14,4,8,11,3,
+  6, 11,13,12,7,5,3,
+  5, 5,0,15,14,3,
+  4, 7,6,0,5,
+  4, 10,13,11,8,
+};
+public static final double[] h57_planes = { // [ h57_numf * 4 ] = {
+  -0.433652,-0.152285,-0.888119,0.271577,-0.247318,0.694798,-0.675344,0.226742,1,0,-0,0.148849,-0.0284606,-0.359798,0.932596,0.317307,-0.212159,0.447018,0.869002,0.229347,-0.315015,-0.796483,-0.516121,0.233139,-0.792041,-0.39734,0.463457,0.191487,-0.805488,0.385717,-0.449902,0.248519,-0.777693,0.614473,0.132726,0.307026,-0.49733,-0.589428,0.636583,0.26357
+};
+// h58
+public static final int h58_numv = 20;
+public static final int h58_numf = 12;
+public static final double h58_volu = 0.077812;
+public static final double[] h58_pos = { 0.374418,0.849026,0.291935 };
+public static final double[] h58_verts = { // [ h58_numv * 3 ] = {
+  -0.082171,-0.283876,-0.113603, 0.200809,-0.178111,-0.133466, -0.082170,0.150974,-0.337291, 0.089508,-0.034332,0.259248, 0.146093,0.150974,0.326019, 0.410849,0.150974,-0.104898, -0.435519,0.150974,0.180309, -0.294114,-0.145438,0.125648, 0.292636,-0.050089,-0.188111, 0.183309,0.150974,-0.304884, 0.227271,-0.158095,-0.071082, 0.363832,0.028244,-0.133595, -0.169427,-0.296300,0.020604, 0.087144,-0.178878,0.139171, 0.071270,-0.146859,0.192458, -0.429747,0.150974,0.185433, -0.186111,-0.286401,0.039952, 0.048213,-0.131812,0.221308, -0.268420,-0.171352,0.132706, -0.212551,-0.233071,0.128708, 
+};
+public static final int[] h58_faces = { // [] = {
+  5, 10,13,12,0,1,
+  5, 0,2,9,8,1,
+  4, 8,11,10,1,
+  6, 0,12,16,7,6,2,
+  6, 6,15,4,5,9,2,
+  6, 4,15,18,19,17,3,
+  3, 17,14,3,
+  7, 14,13,10,11,5,4,3,
+  4, 11,8,9,5,
+  4, 7,18,15,6,
+  4, 16,19,18,7,
+  6, 13,14,17,19,16,12,
+};
+public static final double[] h58_planes = { // [ h58_numf * 4 ] = {
+  0.35532,-0.923345,0.145539,0.216384,0.107916,-0.45476,-0.884052,0.220658,0.777693,-0.614473,-0.132726,0.283326,-0.793214,-0.278548,-0.541501,0.205768,0,1,-0,0.150974,-0.228531,-0.267508,0.936063,0.231401,0.535431,-0.493566,0.685351,0.242546,0.777334,-0.409459,0.477594,0.20745,0.658203,-0.077045,-0.748888,0.337347,-0.604377,-0.413861,0.68077,0.323484,-0.722579,-0.66608,0.18498,0.332636,0.131611,-0.83191,0.539078,0.235303
+};
+// h59
+public static final int h59_numv = 12;
+public static final int h59_numf = 8;
+public static final double h59_volu = 0.098632;
+public static final double[] h59_pos = { 0.795288,0.838821,-0.270144 };
+public static final double[] h59_verts = { // [ h59_numv * 3 ] = {
+  -0.010021,0.161179,0.457181, -0.356162,0.161179,-0.206090, 0.204712,-0.152000,-0.380610, 0.204712,0.161179,-0.434310, -0.057037,0.038449,0.428484, -0.237561,0.161179,0.257195, -0.256523,-0.089455,-0.203657, -0.128234,-0.039885,0.373968, 0.204712,-0.295661,-0.011106, -0.101183,-0.264551,0.132922, 0.204712,0.141973,0.439135, 0.204712,0.161179,0.444075, 
+};
+public static final int[] h59_faces = { // [] = {
+  4, 3,2,6,1,
+  5, 6,9,7,5,1,
+  5, 5,0,11,3,1,
+  5, 3,11,10,8,2,
+  4, 8,9,6,2,
+  4, 10,11,0,4,
+  4, 0,5,7,4,
+  5, 7,9,8,10,4,
+};
+public static final double[] h59_planes = { // [ h59_numf * 4 ] = {
+  -0.372229,-0.156858,-0.91479,0.29582,-0.90476,-0.357438,0.231619,0.216895,0,1,0,0.161178,1,1.92688e-15,-1.87292e-15,0.204712,-0.256529,-0.900844,-0.350247,0.217721,0.0590083,-0.248661,0.966792,0.401329,-0.658203,0.077045,0.748888,0.361391,0.247318,-0.694798,0.675344,0.248554
+};
+// h60
+public static final int h60_numv = 22;
+public static final int h60_numf = 13;
+public static final double h60_volu = 0.091310;
+public static final double[] h60_pos = { 0.415485,0.715407,-0.130668 };
+public static final double[] h60_verts = { // [ h60_numv * 3 ] = {
+  -0.064779,0.284593,-0.364069, 0.142242,0.284593,0.117719, -0.242554,-0.352215,0.182461, 0.061056,-0.331466,0.081653, 0.180191,-0.265711,0.062868, 0.251569,0.083531,0.234492, -0.123237,0.284593,0.085312, -0.123238,-0.150257,0.309000, 0.159742,-0.044491,0.289138, 0.278619,-0.141137,-0.006553, -0.252268,0.284593,-0.135200, 0.123280,0.033960,-0.343133, 0.052142,0.000197,-0.360501, 0.023641,0.284593,-0.345566, 0.159742,-0.275763,0.090860, -0.138846,-0.370709,0.063434, -0.249111,-0.342921,0.192992, -0.046519,-0.292460,-0.089523, -0.252269,-0.342503,0.187380, -0.242676,-0.352703,0.180916, 0.052887,-0.337824,0.045824, 0.043373,-0.342729,0.054274, 
+};
+public static final int[] h60_faces = { // [] = {
+  5, 5,9,11,13,1,
+  5, 13,0,10,6,1,
+  5, 6,7,8,5,1,
+  4, 16,18,19,2,
+  5, 19,15,21,3,2,
+  6, 3,14,8,7,16,2,
+  5, 21,20,4,14,3,
+  6, 20,17,12,11,9,4,
+  5, 9,5,8,14,4,
+  5, 10,18,16,7,6,
+  7, 0,12,17,15,19,18,10,
+  4, 12,0,13,11,
+  4, 17,20,21,15,
+};
+public static final double[] h60_planes = { // [ h60_numf * 4 ] = {
+  0.90476,0.357438,-0.231619,0.203154,8.63556e-17,1,-5.05304e-17,0.284593,-0.107916,0.45476,0.884052,0.218141,-0.60243,-0.746152,0.283435,0.460644,0.159459,-0.944944,0.285751,0.346285,0.284317,-0.624015,0.727852,0.28363,0.488006,-0.871758,0.0434538,0.322301,0.46199,-0.681388,-0.567693,0.228609,0.805488,-0.385717,0.449902,0.275915,-0.835368,0.251447,0.48881,0.21621,-0.73548,-0.309929,-0.602505,0.178793,0.204299,0.0717432,-0.976276,0.362615,0.120149,-0.911351,-0.393704,0.29619
+};
+// h61
+public static final int h61_numv = 24;
+public static final int h61_numf = 14;
+public static final double h61_volu = 0.075853;
+public static final double[] h61_pos = { 0.499694,0.403970,0.252554 };
+public static final double[] h61_verts = { // [ h61_numv * 3 ] = {
+  0.101994,0.286961,-0.031701, -0.294704,0.148756,0.059985, -0.023153,-0.020028,-0.301569, 0.156136,0.037589,0.286475, -0.323273,-0.108125,-0.115004, 0.032521,-0.286922,0.028066, -0.038132,0.266178,0.178552, 0.260541,-0.250848,-0.073994, 0.327470,-0.207739,-0.070493, 0.075532,0.266945,-0.094084, 0.075532,0.035675,-0.292362, 0.343145,0.004293,0.138079, 0.231743,0.048354,0.251404, 0.045317,0.188205,0.223756, -0.087937,-0.209333,0.181412, -0.330859,-0.089605,0.055955, 0.333052,0.040223,0.151633, 0.236542,0.052068,0.247099, -0.339382,-0.095975,-0.073501, -0.326763,-0.040778,-0.200761, -0.207448,0.161180,-0.074222, -0.333320,-0.031483,-0.190230, -0.305302,0.135551,0.055565, -0.337982,-0.028760,-0.177059, 
+};
+public static final int[] h61_faces = { // [] = {
+  5, 20,21,23,22,1,
+  7, 22,15,14,3,13,6,1,
+  5, 6,0,9,20,1,
+  5, 7,5,4,19,2,
+  6, 19,21,20,9,10,2,
+  4, 10,8,7,2,
+  7, 14,5,7,8,11,12,3,
+  4, 12,17,13,3,
+  5, 18,23,21,19,4,
+  5, 5,14,15,18,4,
+  5, 13,17,16,0,6,
+  6, 10,9,0,16,11,8,
+  4, 16,17,12,11,
+  4, 22,23,18,15,
+};
+public static final double[] h61_planes = { // [ h61_numf * 4 ] = {
+  -0.66062,0.653782,-0.368986,0.269808,-0.438192,0.051293,0.897417,0.190598,-0.35532,0.923345,-0.145539,0.233338,-0.148211,-0.780702,-0.607074,0.202142,-0.284317,0.624015,-0.727852,0.213583,0.322885,-0.43293,-0.841615,0.255,0.391463,-0.659847,0.641373,0.220056,0.289106,0.541462,0.789453,0.291652,-0.900933,-0.358346,-0.24476,0.358143,-0.471464,-0.878752,0.0742736,0.238885,0.496382,0.766976,0.406636,0.25783,0.792041,0.39734,-0.463457,0.209497,0.696788,-0.0734069,0.713511,0.337305,-0.991833,0.112685,0.0597434,0.321404
+};
+// h62
+public static final int h62_numv = 18;
+public static final int h62_numf = 11;
+public static final double h62_volu = 0.089635;
+public static final double[] h62_pos = { -0.412607,-0.798932,0.393221 };
+public static final double[] h62_verts = { // [ h62_numv * 3 ] = {
+  0.143743,0.178906,-0.080212, -0.336591,-0.057070,0.045432, -0.365487,-0.201068,0.063069, -0.043446,-0.201068,0.325146, -0.118881,0.178753,-0.144486, -0.152818,-0.201068,-0.248459, 0.205095,-0.201068,-0.388268, 0.337853,-0.164947,-0.214818, 0.038585,0.368996,0.228990, 0.242459,-0.068737,-0.310888, -0.200495,0.172297,-0.114599, -0.231981,0.184967,-0.066303, 0.334110,-0.201068,-0.227916, 0.209245,-0.110463,-0.361925, 0.145031,0.335652,0.325145, 0.169974,0.297178,0.268816, -0.151147,0.272981,0.102025, 0.044821,0.272804,-0.007759, 
+};
+public static final int[] h62_faces = { // [] = {
+  5, 11,10,5,2,1,
+  6, 2,3,14,8,16,1,
+  3, 16,11,1,
+  5, 5,6,12,3,2,
+  5, 12,7,15,14,3,
+  6, 10,11,16,8,17,4,
+  5, 17,0,9,13,4,
+  5, 13,6,5,10,4,
+  5, 13,9,7,12,6,
+  4, 9,0,15,7,
+  5, 14,15,0,17,8,
+};
+public static final double[] h62_planes = { // [ h62_numf * 4 ] = {
+  -0.822068,0.096228,-0.561199,0.245712,-0.616244,0.216405,0.75724,0.229475,-0.870583,0.45858,0.178295,0.27496,4.16641e-16,-1,1.84056e-16,0.201068,0.793214,-0.278548,0.541501,0.197612,-0.20808,0.904248,-0.372879,0.24025,0.167754,0.706913,-0.687119,0.205699,-0.349687,0.276295,-0.895198,0.220304,0.770892,0.145024,-0.620237,0.369765,0.799798,0.547681,-0.245698,0.232657,0.526505,0.792388,-0.308081,0.242156
+};
+// h63
+public static final int h63_numv = 20;
+public static final int h63_numf = 12;
+public static final double h63_volu = 0.065070;
+public static final double[] h63_pos = { -0.683722,-0.408459,0.881106 };
+public static final double[] h63_verts = { // [ h63_numv * 3 ] = {
+  0.408763,0.050375,-0.050997, 0.001643,0.372246,0.104787, -0.316278,-0.373443,0.118894, -0.000569,0.379463,0.118894, -0.316278,-0.303582,-0.012874, 0.413107,-0.090210,0.118894, 0.072977,-0.026465,-0.250457, -0.316278,0.104758,0.118894, -0.133134,0.036421,-0.232486, -0.316278,-0.061367,-0.137470, 0.406500,0.014459,-0.083368, 0.416439,0.055265,0.118894, 0.411396,0.069115,-0.001513, 0.370009,0.144956,0.118894, 0.377753,0.036235,-0.132875, 0.381520,0.034894,-0.130346, 0.374104,0.031050,-0.138388, 0.376042,0.032985,-0.136218, 0.383396,0.034505,-0.128411, 0.385682,0.029196,-0.126410, 
+};
+public static final int[] h63_faces = { // [] = {
+  5, 8,9,7,3,1,
+  8, 3,13,12,0,18,15,14,1,
+  6, 14,17,16,6,8,1,
+  7, 4,6,16,19,10,5,2,
+  6, 5,11,13,3,7,2,
+  4, 7,9,4,2,
+  4, 9,8,6,4,
+  5, 10,0,12,11,5,
+  4, 19,18,0,10,
+  3, 12,13,11,
+  3, 15,17,14,
+  5, 18,19,16,17,15,
+};
+public static final double[] h63_planes = { // [ h63_numf * 4 ] = {
+  -0.589724,0.677749,-0.439183,0.2053,0.50496,0.797961,-0.32905,0.263387,0.141863,0.672536,-0.72634,0.174471,0.324513,-0.835692,-0.443069,0.156769,2.1681e-17,-2.49173e-17,1,0.118894,-1,0,0,0.316278,-0.212159,-0.447018,-0.869002,0.213995,0.998749,-0.0228741,-0.044466,0.409367,0.901569,0.256913,-0.348094,0.399222,0.887955,0.459664,0.015677,0.397046,0.604872,0.393584,-0.692258,0.334738,0.721996,0.0507074,-0.690036,0.367169
+};
+// h64
+public static final int h64_numv = 14;
+public static final int h64_numf = 9;
+public static final double h64_volu = 0.063334;
+public static final double[] h64_pos = { -0.862240,-0.589074,0.504780 };
+public static final double[] h64_verts = { // [ h64_numv * 3 ] = {
+  -0.034062,-0.410926,-0.010011, 0.045384,0.217035,0.143840, 0.295955,0.147819,0.066170, 0.251495,0.154150,0.125869, -0.137760,-0.410926,0.116573, -0.137760,0.324258,-0.236366, -0.137760,0.210059,-0.342106, -0.137760,-0.122967,0.363452, -0.137760,-0.410926,-0.022669, 0.298486,0.063123,-0.009534, -0.137760,0.298525,-0.037806, 0.113042,-0.266928,-0.066127, -0.137760,0.119248,0.238856, 0.217652,-0.024891,-0.177862, 
+};
+public static final int[] h64_faces = { // [] = {
+  3, 10,12,1,
+  4, 12,7,3,1,
+  5, 3,2,5,10,1,
+  5, 9,13,6,5,2,
+  7, 3,7,4,0,11,9,2,
+  7, 7,12,10,5,6,8,4,
+  3, 8,0,4,
+  5, 13,11,0,8,6,
+  3, 11,13,9,
+};
+public static final double[] h64_planes = { // [ h64_numf * 4 ] = {
+  -0.163718,0.827886,0.536471,0.249417,0.212159,0.447018,0.869002,0.231645,0.299389,0.946218,0.12263,0.23659,0.619037,0.533581,-0.576268,0.223949,0.679728,-0.477395,0.556833,0.167446,-1,0,0,0.13776,-0,-1,0,0.410926,0.107916,-0.45476,-0.884052,0.192047,0.870583,-0.45858,-0.178295,0.23261
+};
+// h65
+public static final int h65_numv = 22;
+public static final int h65_numf = 13;
+public static final double h65_volu = 0.115639;
+public static final double[] h65_pos = { -0.632833,-0.759826,0.781144 };
+public static final double[] h65_verts = { // [ h65_numv * 3 ] = {
+  -0.367167,-0.022076,0.218856, 0.176779,-0.240174,-0.062777, -0.145261,-0.240174,-0.324854, -0.367167,-0.240174,-0.159791, -0.367167,-0.240174,0.218856, 0.229214,-0.240174,0.218856, -0.367167,0.047785,0.087088, 0.379478,0.318313,-0.027451, 0.258810,0.329890,-0.158933, 0.022088,0.324902,-0.150495, -0.263470,-0.240174,-0.286375, -0.116365,-0.096176,-0.342491, 0.384007,0.200623,0.218856, 0.365257,0.296546,-0.062778, 0.323215,0.382417,-0.038426, 0.362218,0.261157,0.218856, 0.374110,0.331198,-0.022696, 0.069079,0.233875,-0.285898, 0.066548,0.318571,-0.210194, 0.259984,0.356129,-0.135062, 0.334793,0.380563,-0.026448, 0.355611,0.365826,0.016594, 
+};
+public static final int[] h65_faces = { // [] = {
+  5, 13,7,12,5,1,
+  6, 5,4,3,10,2,1,
+  6, 2,11,17,8,13,1,
+  3, 10,11,2,
+  7, 6,9,18,17,11,10,3,
+  4, 4,0,6,3,
+  5, 5,12,15,0,4,
+  7, 0,15,21,20,14,9,6,
+  7, 13,8,19,14,20,16,7,
+  5, 16,21,15,12,7,
+  4, 17,18,19,8,
+  4, 14,19,18,9,
+  3, 20,21,16,
+};
+public static final double[] h65_planes = { // [ h65_numf * 4 ] = {
+  0.929286,-0.326334,-0.173016,0.253517,5.14845e-16,-1,8.60294e-16,0.240174,0.616244,-0.216405,-0.75724,0.208451,-0.309078,-0.0542691,-0.949487,0.366376,-0.679728,0.477395,-0.556833,0.223893,-1,0,0,0.367167,-0,0,1,0.218856,-0.324513,0.835692,0.443069,0.19767,0.664689,0.486283,-0.567201,0.422595,0.931229,0.335191,0.143037,0.45615,0.156805,0.660773,-0.734024,0.375226,-0.11569,0.975032,-0.189546,0.34276,0.777249,0.606249,-0.168364,0.495386
+};
+// h66
+public static final int h66_numv = 12;
+public static final int h66_numf = 8;
+public static final double h66_volu = 0.090843;
+public static final double[] h66_pos = { 0.194452,-0.846656,0.702344 };
+public static final double[] h66_verts = { // [ h66_numv * 3 ] = {
+  0.144722,0.221953,-0.171396, 0.354760,-0.153344,-0.123136, 0.229722,0.177289,-0.118776, -0.077080,-0.093853,-0.442151, -0.263367,-0.153344,0.297656, 0.293204,-0.153344,0.297656, -0.291202,0.163722,0.297656, 0.229722,0.015381,0.297656, -0.072437,-0.153344,-0.456885, -0.246539,0.275009,-0.021290, -0.133324,-0.153344,-0.464317, -0.137311,-0.122439,-0.456854, 
+};
+public static final int[] h66_faces = { // [] = {
+  5, 8,3,0,2,1,
+  4, 2,7,5,1,
+  5, 5,4,10,8,1,
+  5, 0,9,6,7,2,
+  4, 8,10,11,3,
+  4, 11,9,0,3,
+  5, 6,9,11,10,4,
+  4, 5,7,6,4,
+};
+public static final double[] h66_planes = { // [ h66_numf * 4 ] = {
+  0.598205,0.236328,-0.765702,0.270266,0.927293,0.348894,0.13565,0.258762,2.17789e-18,-1,-1.78413e-17,0.153344,0.256529,0.900843,0.350248,0.17704,0.117405,0.247372,-0.961781,0.392986,-0.167754,0.706913,-0.687119,0.250394,-0.982077,-0.0862167,-0.167608,0.221978,0,0,1,0.297657
+};
+// h67
+public static final int h67_numv = 14;
+public static final int h67_numf = 9;
+public static final double h67_volu = 0.073139;
+public static final double[] h67_pos = { -0.182450,-0.819619,0.699488 };
+public static final double[] h67_verts = { // [ h67_numv * 3 ] = {
+  0.085699,0.136685,0.300512, -0.221169,-0.180381,0.300512, -0.273604,-0.180381,0.018878, 0.130363,0.247972,-0.018435, -0.085126,0.356339,0.018877, 0.113535,-0.180381,0.300512, -0.066376,0.260416,0.300512, -0.060183,0.317865,-0.037452, 0.103953,-0.180381,-0.534183, 0.107696,-0.144260,-0.521085, 0.239592,-0.149476,-0.453999, 0.243578,-0.180381,-0.461462, -0.070905,0.378106,0.054205, -0.032656,0.358692,0.028913, 
+};
+public static final int[] h67_faces = { // [] = {
+  5, 6,12,4,2,1,
+  5, 2,8,11,5,1,
+  4, 5,0,6,1,
+  5, 4,7,9,8,2,
+  5, 10,9,7,13,3,
+  5, 13,12,6,0,3,
+  5, 0,5,11,10,3,
+  4, 12,13,7,4,
+  4, 9,10,11,8,
+};
+public static final double[] h67_planes = { // [ h67_numf * 4 ] = {
+  -0.929286,0.326334,0.173016,0.198658,4.99955e-17,-1,-5.73911e-19,0.180381,0,0,1,0.300512,-0.793214,0.278548,-0.541501,0.156559,0.32928,0.737152,-0.590069,0.236597,0.59399,0.730061,0.337914,0.25224,0.982077,0.0862167,0.167608,0.146316,0.0662371,0.837367,-0.542614,0.282505,0.445543,0.264025,-0.855443,0.455654
+};
+// h68
+public static final int h68_numv = 24;
+public static final int h68_numf = 14;
+public static final double h68_volu = 0.110178;
+public static final double[] h68_pos = { 0.194790,-0.476753,0.823942 };
+public static final double[] h68_verts = { // [ h68_numv * 3 ] = {
+  -0.387371,0.030890,-0.107289, 0.221446,0.021860,-0.353469, -0.465405,-0.021917,0.176058, -0.291540,-0.206181,0.176058, 0.076464,0.334736,-0.007133, 0.229384,-0.354523,0.176058, 0.292644,0.032441,-0.334080, -0.452945,0.146290,0.025179, 0.246219,0.093034,-0.297244, 0.229037,0.025757,-0.352826, 0.107091,0.321655,0.176058, 0.390186,-0.018723,0.176058, 0.312682,0.010704,-0.315910, 0.229384,-0.192615,-0.240374, 0.144384,-0.147950,-0.292995, -0.246877,-0.094895,-0.142888, -0.409896,0.015825,-0.095540, -0.443616,-0.082450,0.176058, -0.462073,0.123559,0.176058, -0.472012,0.082753,-0.026204, -0.453513,0.048124,-0.065494, -0.448145,0.035240,-0.070249, -0.469749,0.118668,0.006167, -0.467116,0.137408,0.055651, 
+};
+public static final int[] h68_faces = { // [] = {
+  5, 14,15,16,0,1,
+  9, 0,20,19,22,7,4,8,9,1,
+  6, 9,6,12,13,14,1,
+  5, 19,20,21,17,2,
+  7, 17,3,5,11,10,18,2,
+  5, 18,23,22,19,2,
+  5, 17,21,16,15,3,
+  5, 15,14,13,5,3,
+  6, 10,11,12,6,8,4,
+  5, 7,23,18,10,4,
+  4, 13,12,11,5,
+  3, 9,8,6,
+  3, 22,23,7,
+  4, 21,20,0,16,
+};
+public static final double[] h68_planes = { // [ h68_numf * 4 ] = {
+  -0.372229,-0.156856,-0.91479,0.237492,-0.27553,0.653111,-0.705358,0.202583,0.296224,-0.4369,-0.849335,0.35626,-0.931229,-0.335191,-0.143037,0.415561,-0,0,1,0.176058,-0.998749,0.0228741,0.044466,0.472149,-0.59399,-0.730061,-0.337914,0.264205,-0.256529,-0.900843,-0.350248,0.198862,0.766208,0.637263,-0.0825892,0.272492,-0.326272,0.937436,0.121492,0.287979,0.88947,-0.425933,-0.165603,0.325878,0.16676,0.602337,-0.780629,0.329134,-0.777217,0.601031,-0.186267,0.435271,-0.512456,0.101226,-0.852726,0.293125
+};
+// h69
+public static final int h69_numv = 18;
+public static final int h69_numf = 11;
+public static final double h69_volu = 0.150904;
+public static final double[] h69_pos = { 0.751581,-0.668854,0.749549 };
+public static final double[] h69_verts = { // [ h69_numv * 3 ] = {
+  0.248419,0.357221,0.250451, -0.263925,-0.331146,0.250451, 0.248419,0.283773,-0.306518, 0.248419,-0.331146,0.009798, 0.000203,0.129153,-0.348181, 0.248419,-0.331146,0.250451, -0.202369,-0.331146,-0.170342, -0.161439,-0.331146,-0.190328, 0.248419,0.424683,-0.270088, -0.087381,0.269445,-0.329471, -0.149648,0.251714,-0.296027, -0.327407,-0.162422,0.250451, -0.166605,0.173379,0.250451, -0.045433,0.301175,-0.321470, -0.327407,-0.000512,-0.165981, -0.244109,0.202806,-0.241517, 0.223596,0.415674,-0.285417, 0.248419,0.419976,-0.283164, 
+};
+public static final int[] h69_faces = { // [] = {
+  4, 11,14,6,1,
+  5, 6,7,3,5,1,
+  5, 5,0,12,11,1,
+  6, 4,9,13,16,17,2,
+  6, 17,8,0,5,3,2,
+  4, 3,7,4,2,
+  7, 7,6,14,15,10,9,4,
+  3, 17,16,8,
+  7, 16,13,10,15,12,0,8,
+  3, 10,13,9,
+  4, 12,15,14,11,
+};
+public static final double[] h69_planes = { // [ h69_numf * 4 ] = {
+  -0.927293,-0.348894,-0.13565,0.326296,0,-1,-0,0.331146,8.48822e-17,-4.06468e-17,1,0.250451,0.0600487,0.168696,-0.983837,0.364353,1,-0,0,0.248419,0.398278,-0.419585,-0.815673,0.229892,-0.433652,-0.152285,-0.888119,0.28947,-0.131169,0.932758,-0.335793,0.454236,-0.402198,0.907959,0.117672,0.2539,-0.469026,0.741177,-0.480283,0.39893,-0.88947,0.425933,0.165603,0.263513
+};
+// h70
+public static final int h70_numv = 8;
+public static final int h70_numf = 6;
+public static final double h70_volu = 0.052841;
+public static final double[] h70_pos = { 0.870032,-0.820199,0.384721 };
+public static final double[] h70_verts = { // [ h70_numv * 3 ] = {
+  0.129968,-0.179801,0.374626, 0.129968,-0.179801,-0.351943, -0.279890,-0.179801,0.174500, 0.129968,0.435118,0.058310, -0.112815,-0.179801,-0.233397, -0.118249,0.280498,0.016648, 0.129968,-0.066134,-0.371433, -0.064784,-0.043027,-0.280302, 
+};
+public static final int[] h70_faces = { // [] = {
+  4, 4,7,6,1,
+  4, 6,3,0,1,
+  4, 0,2,4,1,
+  4, 5,7,4,2,
+  4, 0,3,5,2,
+  4, 6,7,5,3,
+};
+public static final double[] h70_planes = { // [ h70_numf * 4 ] = {
+  -0.433652,-0.152285,-0.888119,0.283587,1,0,0,0.129968,0,-1,0,0.179801,-0.908278,0.191373,-0.372031,0.154889,-0.398278,0.419585,0.815673,0.178367,-0.267862,0.627092,-0.731441,0.195395
+};
+// h71
+public static final int h71_numv = 16;
+public static final int h71_numf = 10;
+public static final double h71_volu = 0.078575;
+public static final double[] h71_pos = { -0.715618,-0.146967,0.614144 };
+public static final double[] h71_verts = { // [ h71_numv * 3 ] = {
+  -0.284382,-0.099249,-0.355298, 0.407938,-0.228507,0.130744, -0.284382,-0.117849,-0.345730, 0.406000,-0.230442,0.128574, 0.033539,0.110754,0.371749, 0.104873,-0.287957,0.016505, -0.197952,0.422046,0.249299, -0.284382,0.237452,0.048837, -0.101238,-0.225072,0.034476, -0.284382,-0.143582,-0.147170, 0.149333,-0.294288,-0.043194, 0.409649,-0.225257,0.134087, 0.147525,0.085239,-0.239307, 0.183419,0.150542,-0.169689, 0.342769,-0.256730,0.031938, 0.344779,-0.242424,0.025560, 
+};
+public static final int[] h71_faces = { // [] = {
+  4, 3,14,15,1,
+  5, 15,12,13,11,1,
+  6, 11,4,8,5,3,1,
+  6, 0,12,15,14,10,2,
+  5, 10,5,8,9,2,
+  4, 9,7,0,2,
+  4, 5,10,14,3,
+  4, 11,13,6,4,
+  5, 6,7,9,8,4,
+  5, 13,12,0,7,6,
+};
+public static final double[] h71_planes = { // [ h71_numf * 4 ] = {
+  0.830322,-0.320028,-0.456232,0.352199,0.848621,0.0894025,-0.521393,0.257586,-0.141863,-0.672536,0.72634,0.190772,0.398278,-0.419585,-0.815673,0.218187,-0.299389,-0.946218,-0.12263,0.239048,-1,-0,0,0.284382,0.11569,-0.975032,0.189546,0.296029,0.727925,0.639055,0.248465,0.187558,-0.735479,-0.309932,0.602505,0.164988,-0.1544,0.759081,-0.632422,0.193269
+};
+// h72
+public static final int h72_numv = 24;
+public static final int h72_numf = 14;
+public static final double h72_volu = 0.135103;
+public static final double[] h72_pos = { -0.469590,0.119774,0.755853 };
+public static final double[] h72_verts = { // [ h72_numv * 3 ] = {
+  -0.212489,-0.155987,0.230040, -0.214701,-0.148769,0.244147, -0.443980,0.155306,0.107590, 0.375305,0.040715,-0.139275, -0.004437,0.090870,-0.389509, 0.311360,0.156806,0.046426, -0.480672,0.247962,0.244147, -0.005314,0.363706,-0.137567, 0.163621,-0.491997,-0.007622, 0.213688,0.055724,0.244147, -0.495580,0.247143,0.161130, -0.499540,0.269230,0.219387, 0.144703,0.290282,-0.088352, 0.355676,0.140088,-0.062598, -0.062609,-0.116199,-0.311398, -0.088334,0.254773,-0.303291, 0.356369,0.017480,-0.175583, 0.155877,-0.383277,0.244147, 0.169264,-0.493727,-0.003158, 0.197264,-0.459118,0.123740, 0.194631,-0.477857,0.074256, 0.211435,-0.450236,0.093267, 0.167388,-0.493339,-0.005093, 0.169626,-0.492143,-0.004615, 
+};
+public static final int[] h72_faces = { // [] = {
+  8, 0,8,22,18,20,19,17,1,
+  4, 17,9,6,1,
+  6, 6,11,10,2,0,1,
+  5, 10,15,4,14,2,
+  4, 14,8,0,2,
+  7, 16,4,15,7,12,13,3,
+  7, 13,5,9,17,19,21,3,
+  6, 21,20,18,23,16,3,
+  6, 16,23,22,8,14,4,
+  3, 13,12,5,
+  6, 12,7,11,6,9,5,
+  4, 15,10,11,7,
+  3, 22,23,18,
+  3, 20,21,19,
+};
+public static final double[] h72_planes = { // [ h72_numf * 4 ] = {
+  -0.50496,-0.797961,0.32905,0.307465,0,0,1,0.244147,-0.820856,-0.550308,0.152828,0.29542,-0.751031,-0.0376746,-0.659191,0.256669,-0.727925,-0.639055,-0.248465,0.197203,0.49733,0.589429,-0.636582,0.299309,0.913105,-0.120244,0.389591,0.283536,0.892822,-0.397939,-0.210981,0.348263,0.398278,-0.419584,-0.815674,0.277818,0.568103,0.816132,0.105771,0.30977,0.226312,0.817437,0.529699,0.223235,-0.411928,0.842404,-0.347377,0.356365,0.474458,-0.651966,-0.591464,0.404071,0.777217,-0.601031,0.186267,0.452309
+};
+// h73
+public static final int h73_numv = 16;
+public static final int h73_numf = 10;
+public static final double h73_volu = 0.036032;
+public static final double[] h73_pos = { -0.912743,-0.085439,0.831075 };
+public static final double[] h73_verts = { // [ h73_numv * 3 ] = {
+  0.095887,-0.286600,-0.182455, -0.087257,0.175924,-0.168094, -0.087257,-0.205110,-0.364101, 0.230664,0.049226,0.154818, -0.037519,0.453174,0.168925, 0.228452,0.056443,0.168925, -0.087257,0.484247,0.168925, -0.000826,0.360518,0.032367, -0.087257,-0.218262,0.168925, -0.087257,-0.384387,-0.087440, -0.087257,0.485343,0.150329, -0.064760,0.476158,0.168925, -0.052427,0.452355,0.085908, -0.087257,0.457669,0.073457, -0.056387,0.474442,0.144165, -0.056885,0.474757,0.144652, 
+};
+public static final int[] h73_faces = { // [] = {
+  4, 13,12,7,1,
+  5, 7,3,0,2,1,
+  7, 2,9,8,6,10,13,1,
+  3, 0,9,2,
+  5, 5,8,9,0,3,
+  6, 7,12,14,4,5,3,
+  4, 14,15,11,4,
+  5, 11,6,8,5,4,
+  4, 11,15,10,6,
+  5, 15,14,12,13,10,
+};
+public static final double[] h73_planes = { // [ h73_numf * 4 ] = {
+  0.347582,0.610296,-0.711847,0.196695,0.735479,0.309932,-0.602505,0.091627,-1,0,0,0.0872566,0.163718,-0.827886,-0.536471,0.350852,0.589724,-0.677749,0.439183,0.170659,0.820856,0.550308,-0.152828,0.192771,0.636259,0.754085,0.162882,0.345375,3.43778e-17,-3.95092e-17,1,0.168925,0.337828,0.939579,0.0553497,0.434861,0.255819,0.909579,-0.327448,0.369911
+};
+// h74
+public static final int h74_numv = 22;
+public static final int h74_numf = 13;
+public static final double h74_volu = 0.115647;
+public static final double[] h74_pos = { -0.806688,0.162223,0.365754 };
+public static final double[] h74_verts = { // [ h74_numv * 3 ] = {
+  -0.106882,0.112856,0.497689, -0.158482,0.204693,0.551229, 0.218764,0.243174,-0.153679, 0.270615,-0.014193,-0.214570, -0.193312,-0.071737,0.297227, 0.312298,0.070592,-0.150604, -0.069795,-0.227826,-0.358730, 0.248765,0.212323,0.086808, -0.193312,-0.408439,-0.106908, -0.193312,0.210007,0.538778, 0.301657,0.087464,-0.177940, -0.191931,0.033024,-0.314003, -0.193312,0.271426,0.001678, 0.058968,0.264774,-0.186519, -0.193312,0.247719,-0.120270, 0.052425,0.263623,-0.188445, 0.332661,0.048420,0.000590, 0.274489,-0.158648,0.078702, 0.238595,-0.223951,0.009084, 0.229318,-0.111676,-0.252511, -0.193312,-0.302733,-0.342536, -0.193312,0.032765,-0.313772, 
+};
+public static final int[] h74_faces = { // [] = {
+  6, 7,2,13,12,9,1,
+  4, 9,4,0,1,
+  5, 0,17,16,7,1,
+  5, 7,16,5,10,2,
+  8, 10,3,19,6,11,15,13,2,
+  6, 5,16,17,18,19,3,
+  3, 10,5,3,
+  7, 9,12,14,21,20,8,4,
+  5, 8,18,17,0,4,
+  4, 20,21,11,6,
+  5, 19,18,8,20,6,
+  4, 21,14,15,11,
+  4, 13,15,14,12,
+};
+public static final double[] h74_planes = { // [ h74_numf * 4 ] = {
+  0.110273,0.987466,0.11292,0.246896,-0.347582,-0.610296,0.711847,0.322553,0.751031,0.0376746,0.659191,0.252053,0.878502,0.475257,-0.0486263,0.315228,0.228531,0.267508,-0.936063,0.258898,0.929286,-0.326334,-0.173016,0.293234,0.897445,-0.121213,-0.424146,0.335592,-1,0,0,0.193312,0.1544,-0.759081,0.632422,0.21258,-0.179474,0.0840327,-0.980167,0.344997,0.446963,-0.816184,-0.366152,0.286102,-0.242073,0.64915,-0.721114,0.29433,-0.11569,0.975032,-0.189546,0.286695
+};
+// h75
+public static final int h75_numv = 18;
+public static final int h75_numf = 11;
+public static final double h75_volu = 0.089620;
+public static final double[] h75_pos = { 0.052817,0.072055,0.868740 };
+public static final double[] h75_verts = { // [ h75_numv * 3 ] = {
+  0.433734,0.123433,0.131260, 0.005775,0.176863,-0.278988, 0.218437,-0.214071,-0.051932, -0.366530,-0.335558,0.131260, -0.308719,0.103443,0.131260, -0.147102,0.088434,-0.252162, -0.310972,-0.402518,-0.019619, -0.003079,0.231496,-0.237914, 0.112171,0.347564,-0.006639, 0.302595,-0.019353,-0.141822, 0.235603,0.353295,0.131260, 0.077918,0.377107,0.131260, 0.249063,-0.227153,0.131260, -0.166731,0.187806,-0.175486, -0.093909,0.310921,0.131260, -0.211047,0.204525,-0.066461, -0.325143,-0.411399,0.010853, -0.320100,-0.425249,0.131260, 
+};
+public static final int[] h75_faces = { // [] = {
+  6, 7,8,10,0,9,1,
+  5, 9,2,6,5,1,
+  4, 5,13,7,1,
+  5, 12,17,16,6,2,
+  4, 9,0,12,2,
+  3, 16,17,3,
+  8, 17,12,0,10,11,14,4,3,
+  7, 4,15,13,5,6,16,3,
+  3, 14,15,4,
+  6, 13,15,14,11,8,7,
+  3, 11,10,8,
+};
+public static final double[] h75_planes = { // [ h75_numf * 4 ] = {
+  0.619037,0.533582,-0.576267,0.258718,0.107917,-0.454758,-0.884053,0.166834,-0.421977,0.500122,-0.756183,0.296982,0.326272,-0.937436,-0.121492,0.278257,0.870584,-0.458578,-0.178296,0.297595,-0.887955,-0.459664,-0.015677,0.477648,0,0,1,0.13126,-0.913105,0.120244,-0.389591,0.243193,-0.694517,0.719058,0.0245236,0.292011,-0.345296,0.896431,-0.277815,0.27468,0.14709,0.974029,-0.172138,0.356179
+};
+// h76
+public static final int h76_numv = 24;
+public static final int h76_numf = 14;
+public static final double h76_volu = 0.095138;
+public static final double[] h76_pos = { 0.088788,-0.142804,0.576459 };
+public static final double[] h76_verts = { // [ h76_numv * 3 ] = {
+  0.352221,-0.240915,-0.049761, -0.386828,-0.236459,0.178237, 0.182466,0.000788,0.240349, -0.006268,0.044860,-0.340368, 0.298110,0.182836,0.102163, -0.389114,-0.231150,0.176236, -0.030195,0.391722,0.013292, -0.363747,-0.215280,0.253650, -0.388752,-0.229565,0.174779, -0.101327,0.289860,-0.170144, 0.328315,-0.307617,-0.113256, -0.079254,0.048914,-0.283309, 0.094387,-0.120263,-0.302438, -0.281369,-0.303059,0.140194, 0.335039,-0.308192,-0.105343, 0.327448,-0.312089,-0.105986, 0.022142,0.379302,-0.133650, -0.346943,-0.187659,0.272661, -0.202009,0.280058,0.003811, -0.183073,0.303293,0.040119, 0.266624,0.195506,0.150459, -0.022476,0.325632,-0.215723, -0.347511,-0.285824,0.181989, -0.366010,-0.251196,0.221279, 
+};
+public static final int[] h76_faces = { // [] = {
+  3, 22,23,1,
+  4, 23,7,5,1,
+  8, 5,8,11,3,12,13,22,1,
+  9, 17,7,23,22,13,15,14,0,2,
+  4, 0,4,20,2,
+  5, 20,6,19,17,2,
+  4, 11,9,21,3,
+  8, 21,16,4,0,14,10,12,3,
+  4, 16,6,20,4,
+  6, 7,17,19,18,8,5,
+  6, 16,21,9,18,19,6,
+  4, 18,9,11,8,
+  3, 14,15,10,
+  4, 15,13,12,10,
+};
+public static final double[] h76_planes = { // [ h76_numf * 4 ] = {
+  -0.777249,-0.606249,0.168364,0.474024,-0.901569,-0.256913,0.348094,0.471545,-0.553104,-0.49165,-0.672575,0.210334,0.27553,-0.653111,0.705358,0.219292,0.822068,-0.096228,0.561199,0.284807,-0.107917,0.454758,0.884053,0.193148,-0.576312,0.303571,-0.758755,0.275486,0.73548,0.309929,-0.602505,0.214367,0.512085,0.851811,0.110395,0.319678,-0.892822,0.397939,0.210981,0.292608,-0.517294,0.817451,-0.253339,0.332466,-0.859244,0.150868,-0.488814,0.213964,0.440632,-0.78713,-0.431589,0.435681,-0.226312,-0.817437,-0.529699,0.237148
+};
+// h77
+public static final int h77_numv = 26;
+public static final int h77_numf = 15;
+public static final double h77_volu = 0.087804;
+public static final double[] h77_pos = { 0.390778,-0.073451,0.362494 };
+public static final double[] h77_verts = { // [ h77_numv * 3 ] = {
+  -0.003880,0.113483,0.316128, 0.315369,-0.294228,0.065585, -0.206158,-0.189928,-0.093832, 0.020979,0.268088,0.071472, -0.324466,0.256279,-0.001758, -0.230465,0.381445,-0.183441, 0.426887,-0.187811,0.054869, 0.211155,-0.343689,0.091028, -0.224735,0.155039,-0.266749, 0.077733,0.119939,0.286241, 0.026325,-0.376970,0.100709, -0.297695,-0.031084,-0.153195, 0.009520,-0.343472,-0.067504, 0.155269,-0.307156,-0.121769, -0.207604,-0.189616,-0.088472, -0.308258,-0.024493,-0.126403, 0.050231,-0.310268,0.164204, 0.176117,-0.273019,-0.144419, 0.417855,-0.153875,-0.005953, 0.273422,-0.325958,0.057585, 0.096656,-0.370860,0.127368, 0.033049,-0.377545,0.108622, -0.214357,0.369295,-0.224944, 0.141437,0.190499,-0.081874, -0.279848,0.309949,0.080316, -0.221943,0.387815,-0.053985, 
+};
+public static final int[] h77_faces = { // [] = {
+  6, 19,13,17,18,6,1,
+  7, 6,9,0,16,20,7,1,
+  3, 7,19,1,
+  4, 14,15,11,2,
+  6, 11,8,17,13,12,2,
+  4, 12,10,14,2,
+  5, 25,24,0,9,3,
+  5, 9,6,18,23,3,
+  5, 23,22,5,25,3,
+  4, 24,25,5,4,
+  6, 5,22,8,11,15,4,
+  8, 15,14,10,21,16,0,24,4,
+  7, 20,21,10,12,13,19,7,
+  5, 22,23,18,17,8,
+  3, 21,20,16,
+};
+public static final double[] h77_planes = { // [ h77_numf * 4 ] = {
+  0.590109,-0.664552,-0.458413,0.351567,0.349687,-0.276295,0.895198,0.250286,0.469026,-0.741177,0.480283,0.397491,-0.818514,-0.542417,-0.189261,0.289522,-0.212159,-0.447018,-0.869002,0.21018,-0.568104,-0.816131,-0.105771,0.28205,0.131611,0.83191,0.539077,0.264315,0.727924,0.639056,0.248465,0.204352,0.471464,0.878752,-0.0742736,0.240165,-0.784459,0.61982,0.0211391,0.41334,-0.913105,0.120244,-0.389591,0.327772,-0.73548,-0.309929,0.602505,0.158151,0.162747,-0.964426,-0.208316,0.346865,0.433652,0.152285,-0.888119,0.163058,-0.16676,-0.602337,0.780629,0.306692
+};
+// h78
+public static final int h78_numv = 20;
+public static final int h78_numf = 12;
+public static final double h78_volu = 0.126407;
+public static final double[] h78_pos = { 0.652845,-0.171711,0.785711 };
+public static final double[] h78_verts = { // [ h78_numv * 3 ] = {
+  -0.350965,0.016612,0.214289, 0.347155,-0.072460,-0.306250, -0.381591,0.029695,0.031097, 0.347155,-0.139922,0.214289, 0.322332,-0.081469,-0.321579, -0.265947,0.211743,-0.107089, -0.020631,0.312250,-0.000249, 0.347155,0.151286,0.214289, 0.347155,-0.036860,-0.269624, -0.184333,0.218199,-0.136976, -0.297433,0.224413,-0.058793, -0.211836,-0.212008,-0.259013, -0.050911,-0.245429,-0.332189, -0.067869,-0.323764,0.214289, -0.166294,0.367199,0.214289, -0.026282,0.399418,0.214289, -0.145373,-0.294337,-0.277679, -0.165410,-0.272600,-0.295849, 0.053302,-0.195968,-0.357632, 0.164820,-0.089551,-0.368349, 
+};
+public static final int[] h78_faces = { // [] = {
+  7, 3,13,16,12,18,4,1,
+  6, 4,19,9,6,8,1,
+  4, 8,7,3,1,
+  6, 11,17,16,13,0,2,
+  4, 0,14,10,2,
+  4, 10,5,11,2,
+  6, 7,15,14,0,13,3,
+  3, 18,19,4,
+  6, 10,14,15,6,9,5,
+  7, 9,19,18,12,17,11,5,
+  4, 15,7,8,6,
+  3, 16,17,12,
+};
+public static final double[] h78_planes = { // [ h78_numf * 4 ] = {
+  0.402198,-0.907959,-0.117672,0.241453,0.167754,0.706913,-0.687119,0.217444,1,-0,0,0.347155,-0.766208,-0.637263,0.0825892,0.276023,-0.870584,0.458578,0.178296,0.351369,-0.822068,0.096228,-0.561199,0.2991,0,-0,1,0.214289,0.280943,-0.383024,-0.879979,0.404745,-0.20808,0.904248,-0.372879,0.286737,-0.349687,0.276295,-0.895198,0.247367,0.526505,0.792388,-0.308081,0.236638,-0.071473,-0.677671,-0.731884,0.413083
+};
+// h79
+public static final int h79_numv = 20;
+public static final int h79_numf = 12;
+public static final double h79_volu = 0.069132;
+public static final double[] h79_pos = { 0.747670,0.086302,0.441993 };
+public static final double[] h79_verts = { // [ h79_numv * 3 ] = {
+  0.252330,0.012519,-0.215098, 0.012566,0.066820,-0.263433, 0.201221,-0.224177,-0.182831, 0.095169,0.321961,-0.051360, -0.091840,0.355257,0.097036, -0.215455,0.030746,-0.161373, -0.279159,-0.039814,0.206742, 0.060963,-0.313628,-0.085453, -0.115456,0.054238,0.343469, 0.252330,-0.294873,0.074094, -0.016233,0.366022,0.061965, -0.074702,0.310522,0.161887, 0.252330,0.103519,-0.130839, 0.252330,-0.216744,-0.175787, -0.335913,0.108335,-0.008027, 0.079494,0.109929,-0.259932, 0.069995,-0.347564,-0.024631, 0.252330,-0.330473,0.037468, 0.252330,-0.335180,0.024392, 0.227507,-0.339482,0.022139, 
+};
+public static final int[] h79_faces = { // [] = {
+  7, 5,14,4,10,3,15,1,
+  5, 15,0,13,2,1,
+  4, 2,7,5,1,
+  6, 13,18,19,16,7,2,
+  6, 10,11,8,9,12,3,
+  4, 12,0,15,3,
+  5, 14,6,8,11,4,
+  3, 11,10,4,
+  5, 7,16,6,14,5,
+  6, 16,19,17,9,8,6,
+  6, 17,18,13,0,12,9,
+  3, 19,18,17,
+};
+public static final double[] h79_planes = { // [ h79_numf * 4 ] = {
+  -0.391463,0.659847,-0.641373,0.208131,0.158394,-0.166869,-0.973173,0.247207,-0.309646,-0.434949,-0.84554,0.189789,0.191731,-0.844679,-0.499756,0.319309,0.73548,0.309929,0.602505,0.138836,0.49733,0.589428,-0.636583,0.269798,-0.708232,0.479648,0.518021,0.285709,0.131611,0.831909,0.539078,0.335765,-0.727924,-0.639056,-0.248465,0.177281,-0.167754,-0.706913,0.687119,0.217031,1,0,0,0.25233,0.131169,-0.932758,0.335793,0.35393
+};
+// h80
+public static final int h80_numv = 14;
+public static final int h80_numf = 9;
+public static final double h80_volu = 0.076324;
+public static final double[] h80_pos = { 0.872729,0.237609,0.718600 };
+public static final double[] h80_verts = { // [ h80_numv * 3 ] = {
+  0.127271,0.331095,-0.032200, 0.127271,-0.258034,0.281400, 0.127271,-0.446180,-0.202512, -0.199761,0.159215,-0.114719, -0.141292,0.214715,-0.214641, -0.136492,0.218429,-0.218946, -0.240515,-0.097070,0.066863, -0.246166,-0.009903,0.281400, -0.239577,0.050556,0.281400, 0.127271,0.263358,0.281400, 0.127271,0.246274,-0.293996, 0.127271,-0.047788,-0.407445, -0.039983,0.206584,-0.314412, -0.029889,0.170654,-0.327966, 
+};
+public static final int[] h80_faces = { // [] = {
+  4, 7,6,2,1,
+  6, 2,11,10,0,9,1,
+  4, 9,8,7,1,
+  6, 6,3,4,13,11,2,
+  6, 8,9,0,5,4,3,
+  4, 6,7,8,3,
+  4, 5,12,13,4,
+  4, 0,10,12,5,
+  4, 11,13,12,10,
+};
+public static final double[] h80_planes = { // [ h80_numf * 4 ] = {
+  -0.526505,-0.792388,0.308081,0.224148,1,0,0,0.127271,0,0,1,0.281401,-0.73548,-0.309929,-0.602505,0.166694,-0.493234,0.850287,0.183662,0.212838,-0.991673,0.108076,-0.0700326,0.223339,-0.696788,0.0734069,-0.713511,0.267361,-0.184883,0.934913,-0.302912,0.295769,0.0284606,0.359798,-0.932596,0.36641
+};
+// h81
+public static final int h81_numv = 10;
+public static final int h81_numf = 7;
+public static final double h81_volu = 0.092471;
+public static final double[] h81_pos = { -0.647649,0.823554,0.820209 };
+public static final double[] h81_verts = { // [ h81_numv * 3 ] = {
+  0.457657,0.176446,0.179791, -0.352351,-0.423650,0.161195, -0.352351,0.176446,-0.147497, -0.352351,-0.424746,0.179791, -0.352351,0.176446,0.179791, 0.395926,0.059255,0.179791, 0.203225,-0.169390,-0.173056, 0.338792,0.176446,-0.400601, -0.321979,-0.434236,0.155518, -0.329854,-0.432835,0.179791, 
+};
+public static final int[] h81_faces = { // [] = {
+  4, 8,9,3,1,
+  4, 3,4,2,1,
+  5, 2,7,6,8,1,
+  4, 4,0,7,2,
+  5, 9,5,0,4,3,
+  4, 6,7,0,5,
+  4, 9,8,6,5,
+};
+public static final double[] h81_planes = { // [ h81_numf * 4 ] = {
+  -0.337828,-0.939579,-0.0553497,0.508165,-1,-9.23352e-17,0,0.352351,-0.309646,-0.434949,-0.84554,0.157073,0,1,-0,0.176446,-0,0,1,0.179791,0.870584,-0.458578,-0.178296,0.285458,0.546922,-0.806654,0.224019,0.209019
+};
+// h82
+public static final int h82_numv = 22;
+public static final int h82_numf = 13;
+public static final double h82_volu = 0.133984;
+public static final double[] h82_pos = { -0.704013,0.655334,0.510913 };
+public static final double[] h82_verts = { // [ h82_numv * 3 ] = {
+  -0.295987,0.344666,0.147853, 0.143982,-0.175036,-0.341668, -0.295987,-0.255430,0.470491, 0.398940,0.268255,-0.112413, -0.265615,-0.266016,0.464814, -0.043708,-0.228337,-0.331678, 0.395156,0.344666,-0.091306, 0.146090,-0.280788,-0.058352, 0.259589,-0.001170,0.136240, -0.295987,0.344666,0.161799, 0.268488,-0.087750,0.102566, -0.295987,-0.221685,-0.143481, -0.265117,-0.266331,0.464327, 0.229109,-0.171854,0.107373, -0.295987,-0.283104,0.393619, -0.261157,-0.288418,0.406070, 0.116089,-0.249937,-0.298838, 0.396013,0.344666,-0.093117, 0.248792,0.064649,-0.395197, 0.275014,0.344666,-0.270360, 0.114098,-0.109185,-0.385965, 0.213954,-0.004245,-0.405120, 
+};
+public static final int[] h82_faces = {
+  4, 16,5,20,1,
+  3, 20,21,1,
+  8, 21,18,3,10,13,7,16,1,
+  5, 14,15,12,4,2,
+  5, 4,8,6,9,2,
+  5, 9,0,11,14,2,
+  4, 18,19,17,3,
+  5, 17,6,8,10,3,
+  5, 12,13,10,8,4,
+  6, 16,7,15,14,11,5,
+  7, 11,0,19,18,21,20,5,
+  5, 17,19,0,9,6,
+  4, 13,12,15,7,
+};
+public static final double[] h82_planes = { // [ h82_numf * 4 ] = {
+  0.103318,-0.522457,-0.846383,0.395508,0.296224,-0.4369,-0.849335,0.409315,0.88947,-0.425933,-0.165603,0.259202,-0.255819,-0.909579,0.327448,0.462115,0.309646,0.434949,0.84554,0.195068,-1,0,0,0.295987,0.813673,0.17144,-0.555468,0.433038,0.901694,-0.0730707,0.426155,0.292215,0.598205,-0.236328,0.765702,0.259883,-0.110273,-0.987466,-0.11292,0.267748,-0.545755,0.383303,-0.745138,0.183477,-9.72172e-17,1,0,0.344666,0.411928,-0.842404,0.347377,0.276446
+};
+// h83
+public static final int h83_numv = 12;
+public static final int h83_numf = 8;
+public static final double h83_volu = 0.056796;
+public static final double[] h83_pos = { -0.429347,0.488254,0.882979 };
+public static final double[] h83_verts = { // [ h83_numv * 3 ] = {
+  -0.006178,0.079330,-0.269501, -0.548156,-0.097535,0.117020, -0.015077,0.165910,-0.235826, -0.540281,-0.098936,0.092747, 0.104460,-0.078198,-0.215479, 0.388255,-0.105278,0.117020, 0.173445,-0.312756,0.117020, 0.177624,0.394555,0.117020, -0.045557,-0.004774,-0.264694, 0.271117,-0.211674,-0.080700, -0.539783,-0.099251,0.092261, -0.520915,-0.120519,0.117020, 
+};
+public static final int[] h83_faces = { // [] = {
+  4, 3,10,11,1,
+  5, 11,6,5,7,1,
+  4, 7,2,3,1,
+  6, 7,5,9,4,0,2,
+  5, 0,8,10,3,2,
+  6, 9,6,11,10,8,4,
+  3, 8,0,4,
+  3, 6,9,5,
+};
+public static final double[] h83_planes = { // [ h83_numf * 4 ] = {
+  -0.636259,-0.754085,-0.162882,0.403258,0,0,1,0.117021,-0.546922,0.806654,-0.224019,0.194907,0.735479,0.309932,-0.602505,0.182419,-0.598205,0.236328,-0.765702,0.228801,-0.226312,-0.817437,-0.529699,0.15442,0.233951,-0.164311,-0.958264,0.243773,0.694517,-0.719058,-0.0245236,0.342481
+};
+// h84
+public static final int h84_numv = 22;
+public static final int h84_numf = 13;
+public static final double h84_volu = 0.109330;
+public static final double[] h84_pos = { -0.121674,0.670783,0.713170 };
+public static final double[] h84_verts = { // [ h84_numv * 3 ] = {
+  -0.313851,-0.103198,-0.099691, -0.010109,0.329217,0.286830, 0.252410,-0.221620,0.286830, -0.068318,0.329217,0.286830, 0.080582,-0.287807,0.286830, 0.201978,0.032805,-0.295587, -0.187183,0.329217,-0.293562, 0.227672,0.006891,-0.288529, -0.130049,0.212026,0.286830, -0.322750,-0.016619,-0.066017, -0.036556,-0.394202,0.089109, 0.171412,-0.367231,-0.082344, -0.203213,-0.260726,-0.045669, 0.007760,-0.410921,-0.019916, 0.265234,-0.083360,-0.251274, 0.286662,-0.251163,0.148930, -0.115141,0.329217,-0.286684, -0.066013,0.197094,-0.314670, -0.183399,0.252807,-0.314670, -0.186326,0.329217,-0.295374, 0.060573,0.329217,-0.240926, 0.066345,0.329217,-0.235802, 
+};
+public static final int[] h84_faces = { // [] = {
+  6, 2,15,14,7,21,1,
+  7, 21,20,16,19,6,3,1,
+  5, 3,8,4,2,1,
+  6, 4,10,13,11,15,2,
+  4, 6,9,8,3,
+  6, 8,9,0,12,10,4,
+  4, 20,21,7,5,
+  9, 7,14,11,13,12,0,18,17,5,
+  4, 17,16,20,5,
+  5, 19,18,0,9,6,
+  3, 12,13,10,
+  3, 14,15,11,
+  4, 17,18,19,16,
+};
+public static final double[] h84_planes = { // [ h84_numf * 4 ] = {
+  0.894954,0.426518,0.130919,0.168922,0,1,0,0.329217,0,0,1,0.28683,0.345296,-0.896431,0.277815,0.365509,-0.870584,0.458578,0.178296,0.261589,-0.735479,-0.309932,0.602505,0.202751,0.604377,0.413861,-0.68077,0.336874,-0.212159,-0.447018,-0.869002,0.19935,0.241471,0.286187,-0.927248,0.332242,-0.901694,0.0730707,-0.426155,0.317941,-0.568103,-0.816132,-0.105771,0.333064,0.877503,-0.423705,-0.224641,0.32451,0.117405,0.247371,-0.961782,0.343649
+};
+// h85
+public static final int h85_numv = 36;
+public static final int h85_numf = 20;
+public static final double h85_volu = 0.148789;
+public static final double[] h85_pos = { -0.198763,0.456116,0.345386 };
+public static final double[] h85_verts = { // [ h85_numv * 3 ] = {
+  0.248501,-0.152565,0.285440, 0.011075,0.411760,0.053114, 0.304761,0.221558,0.079254, 0.360475,-0.080906,-0.269891, -0.389161,-0.050719,-0.133311, 0.279067,0.247472,0.072197, 0.342323,0.131307,0.116509, -0.236762,0.111468,0.268093, 0.084849,-0.196255,0.347868, 0.186224,-0.309060,0.060929, -0.295627,-0.223301,-0.130236, 0.016686,0.009351,-0.358147, 0.315157,-0.069303,-0.293328, -0.106311,0.467473,0.053114, 0.257356,-0.207198,0.244366, 0.367598,-0.141752,-0.036878, 0.104478,-0.295627,0.271192, -0.126124,-0.046060,0.322115, -0.256458,0.263868,-0.229670, 0.085542,-0.318862,0.234884, -0.291296,0.194974,-0.239593, -0.265275,0.238760,-0.259807, -0.361268,0.024182,-0.176141, -0.291163,-0.195420,-0.172718, -0.276141,0.027364,0.272900, -0.306268,-0.206429,-0.157572, -0.275264,-0.245473,0.020958, -0.359160,-0.081570,0.107176, 0.360630,0.159839,0.075257, 0.387070,0.106509,-0.013499, 0.393155,0.083405,-0.037268, 0.359076,-0.148122,-0.166333, 0.309693,-0.219618,0.097423, 0.265075,-0.273288,0.015350, 0.118262,-0.041268,-0.360627, 0.049809,-0.043705,-0.365222, 
+};
+public static final int[] h85_faces = {
+  7, 12,34,11,21,18,13,1,
+  9, 13,7,17,8,0,6,2,5,1,
+  6, 5,29,30,3,12,1,
+  4, 28,29,5,2,
+  3, 6,28,2,
+  4, 30,15,31,3,
+  10, 31,33,9,10,25,23,35,34,12,3,
+  5, 25,10,26,27,4,
+  8, 27,24,7,13,18,20,22,4,
+  4, 22,23,25,4,
+  8, 0,14,32,15,30,29,28,6,
+  3, 24,17,7,
+  7, 17,24,27,26,19,16,8,
+  4, 16,14,0,8,
+  4, 19,26,10,9,
+  6, 33,32,14,16,19,9,
+  3, 34,35,11,
+  6, 35,23,22,20,21,11,
+  4, 32,33,31,15,
+  3, 21,20,18,
+};
+public static final double[] h85_planes = { // [ h85_numf * 4 ] = {
+  0.322183,0.678838,-0.659831,0.24804,0.212159,0.447018,0.869002,0.23257,0.463507,0.691764,-0.553737,0.260563,0.722579,0.66608,-0.18498,0.353129,0.602768,0.50566,0.617235,0.344652,0.991833,-0.112685,-0.0597434,0.382771,0.066237,-0.837367,-0.542613,0.238071,-0.878502,-0.475257,0.0486263,0.359502,-0.88947,0.425933,0.165603,0.302468,-0.613049,-0.207593,-0.762283,0.350725,0.933932,-0.105417,0.341552,0.345658,-0.233951,0.164311,0.958264,0.33061,-0.49733,-0.589429,0.636582,0.294927,0.421977,-0.500122,0.756183,0.397007,-0.124536,-0.983986,-0.127525,0.273149,0.517294,-0.817451,0.253339,0.364409,0.0600487,0.168696,-0.983837,0.354938,-0.433652,-0.152285,-0.888119,0.309417,0.784459,-0.61982,-0.0211391,0.377005,-0.877441,0.462191,-0.128357,0.376465
+};
+// h86
+public static final int h86_numv = 14;
+public static final int h86_numf = 9;
+public static final double h86_volu = 0.108919;
+public static final double[] h86_pos = { 0.238541,0.789776,0.775739 };
+public static final double[] h86_verts = { // [ h86_numv * 3 ] = {
+  -0.094981,-0.202353,-0.313843, -0.370325,0.210224,0.224261, -0.076674,-0.173821,-0.355096, 0.281969,0.210224,-0.157785, 0.225385,0.024918,-0.224556, 0.374020,0.210224,0.224261, 0.316487,0.210224,-0.084750, -0.107806,-0.340614,0.224261, 0.201351,-0.281476,0.224261, 0.184090,-0.072562,-0.262496, -0.073553,-0.370157,0.086361, 0.049879,-0.364426,0.224261, -0.132543,-0.112102,-0.351098, -0.293871,0.210224,-0.298371, 
+};
+public static final int[] h86_faces = {
+  6, 13,12,0,10,7,1,
+  5, 7,11,8,5,1,
+  5, 5,6,3,13,1,
+  6, 12,13,3,4,9,2,
+  6, 9,8,11,10,0,2,
+  3, 0,12,2,
+  3, 6,4,3,
+  5, 6,5,8,9,4,
+  3, 10,11,7,
+};
+public static final double[] h86_planes = { // [ h86_numf * 4 ] = {
+  -0.894954,-0.426518,-0.130919,0.212399,0,0,1,0.224261,0,1,0,0.210224,0.228531,0.267508,-0.936063,0.268372,0.446964,-0.816183,-0.366153,0.237618,-0.602768,-0.50566,-0.617235,0.353289,0.897445,-0.121212,-0.424146,0.294495,0.929286,-0.326334,-0.173016,0.240167,-0.14709,-0.974029,0.172138,0.386228
+};
+// h87
+public static final int h87_numv = 16;
+public static final int h87_numf = 10;
+public static final double h87_volu = 0.089360;
+public static final double[] h87_pos = { 0.798384,0.791714,0.481127 };
+public static final double[] h87_verts = { // [ h87_numv * 3 ] = {
+  -0.277873,0.208286,0.136827, -0.253373,-0.199539,-0.004817, 0.201616,0.208286,-0.307196, 0.201616,0.189080,-0.312136, 0.201616,-0.223010,0.205272, 0.201616,0.208286,0.427133, 0.201616,-0.307831,-0.056523, -0.352696,-0.089547,0.003266, -0.060134,0.085556,-0.322787, -0.013117,0.208286,-0.294090, -0.336822,-0.121565,-0.050021, -0.196695,-0.100782,-0.260274, -0.062147,-0.335676,0.018525, 0.034362,-0.347521,-0.076940, -0.334458,0.022980,0.070056, -0.243356,0.208286,0.209862, 
+};
+public static final int[] h87_faces = {
+  5, 10,11,13,12,1,
+  7, 12,4,5,15,14,7,1,
+  3, 7,10,1,
+  4, 3,8,9,2,
+  5, 9,0,15,5,2,
+  5, 5,4,6,3,2,
+  5, 6,13,11,8,3,
+  4, 12,13,6,4,
+  7, 14,0,9,8,11,10,7,
+  3, 15,0,14,
+};
+public static final double[] h87_planes = { // [ h87_numf * 4 ] = {
+  -0.496382,-0.766976,-0.406636,0.28077,-0.398278,-0.419587,0.815673,0.180707,-0.722578,-0.66608,0.18498,0.3151,-0.0590083,0.248661,-0.966792,0.336891,0,1,0,0.208286,1,1.89246e-16,1.50725e-16,0.201616,0.212159,-0.447018,-0.869002,0.229499,0.184883,-0.934913,0.302912,0.307949,-0.777334,0.409459,-0.477594,0.235937,-0.897445,0.121212,0.424146,0.332657
+};
+// h88
+public static final int h88_numv = 26;
+public static final int h88_numf = 15;
+public static final double h88_volu = 0.102785;
+public static final double[] h88_pos = { 0.372790,0.365732,0.656967 };
+public static final double[] h88_verts = { // [ h88_numv * 3 ] = {
+  -0.084370,0.059618,0.343033, 0.095722,-0.319244,-0.008232, 0.172221,0.226443,-0.180656, 0.300178,0.031092,-0.053086, 0.259424,-0.225193,0.128495, 0.253773,-0.138025,0.343033, -0.207802,0.053887,0.205134, 0.072899,0.336435,-0.172573, -0.203955,-0.051368,-0.348458, 0.260362,-0.077566,0.343033, 0.038967,-0.171095,-0.223000, 0.088772,0.304416,-0.225861, 0.113761,-0.170244,0.343033, 0.067103,0.142568,0.343033, -0.229230,0.221691,-0.195070, -0.323052,-0.062181,-0.026140, 0.014109,-0.325700,0.021656, -0.261860,-0.129234,-0.214158, -0.017378,-0.313030,0.069951, -0.314197,-0.116814,-0.067215, 0.049841,0.351482,-0.143724, -0.178398,0.173789,-0.348849, -0.210923,0.250223,-0.236324, 0.283040,0.075827,-0.117937, -0.184483,0.196893,-0.325078, -0.167799,0.186994,-0.344427, 
+};
+public static final int[] h88_faces = {
+  5, 10,23,3,4,1,
+  6, 4,5,12,18,16,1,
+  5, 16,17,8,10,1,
+  7, 23,10,8,21,25,11,2,
+  3, 11,7,2,
+  7, 7,20,13,9,3,23,2,
+  4, 9,5,4,3,
+  5, 9,13,0,12,5,
+  6, 15,19,18,12,0,6,
+  6, 0,13,20,22,14,6,
+  3, 14,15,6,
+  6, 11,25,24,22,20,7,
+  8, 17,19,15,14,22,24,21,8,
+  4, 18,19,17,16,
+  3, 24,25,21,
+};
+public static final double[] h88_planes = { // [ h88_numf * 4 ] = {
+  0.708232,-0.479648,-0.518021,0.225182,0.20808,-0.904248,0.372879,0.305524,-0.131611,-0.83191,-0.539077,0.257422,0.438192,-0.051293,-0.897417,0.225975,0.722578,0.66608,-0.18498,0.30869,0.727925,0.639055,0.248465,0.225187,0.991673,-0.108076,0.0700326,0.2906,0,-0,1,0.343033,-0.619037,-0.533582,0.576267,0.218095,-0.446964,0.816183,0.366153,0.211972,-0.877503,0.423705,0.224641,0.25126,-0.131611,0.83191,-0.539078,0.36332,-0.933932,0.105417,-0.341552,0.304082,-0.512085,-0.851811,-0.110395,0.267819,-0.443092,0.583496,-0.68059,0.417874
+};
+// h89
+public static final int h89_numv = 16;
+public static final int h89_numf = 10;
+public static final double h89_volu = 0.098811;
+public static final double[] h89_pos = { 0.713605,0.673779,0.814484 };
+public static final double[] h89_verts = { // [ h89_numv * 3 ] = {
+  -0.273713,-0.165479,0.185516, -0.080453,-0.385613,0.185516, 0.286395,-0.172812,0.185516, 0.286395,0.326221,0.093776, -0.101044,0.326221,0.185516, 0.286395,0.326221,0.185516, 0.017832,-0.221455,-0.310526, 0.286395,-0.105074,-0.128085, -0.040637,-0.276955,-0.210604, -0.057774,-0.232220,-0.275455, -0.158577,0.326221,-0.123495, -0.267917,0.028388,-0.330091, -0.290974,0.043435,-0.301241, -0.249679,0.140915,-0.263301, -0.168594,-0.081604,-0.338174, 0.022632,-0.217741,-0.314831, 
+};
+public static final int[] h89_faces = {
+  6, 8,6,15,7,2,1,
+  5, 2,5,4,0,1,
+  7, 0,12,11,14,9,8,1,
+  4, 7,3,5,2,
+  7, 7,15,14,11,13,10,3,
+  4, 10,4,5,3,
+  5, 10,13,12,0,4,
+  4, 9,14,15,6,
+  3, 8,9,6,
+  3, 12,13,11,
+};
+public static final double[] h89_planes = { // [ h89_numf * 4 ] = {
+  0.493234,-0.850287,-0.183662,0.254128,-0,1.12896e-16,1,0.185516,-0.727925,-0.639055,-0.248465,0.258897,1,0,0,0.286395,0.398278,0.419587,-0.815673,0.174452,0,1,0,0.326221,-0.929286,0.326334,0.173016,0.232453,-0.289106,-0.541462,-0.789453,0.3599,-0.131611,-0.831909,-0.539078,0.349281,-0.535431,0.493566,-0.685351,0.38369
+};
+
+//Aggregate of all cells.
+public static final int halton_numc = 90;
+public static final int[] halton_numv = { // [ halton_numc ] = {
+  h00_numv,h01_numv,h02_numv,h03_numv,h04_numv,h05_numv,h06_numv,h07_numv,h08_numv,h09_numv,h10_numv,h11_numv,h12_numv,h13_numv,h14_numv,h15_numv,h16_numv,h17_numv,h18_numv,h19_numv,h20_numv,h21_numv,h22_numv,h23_numv,h24_numv,h25_numv,h26_numv,h27_numv,h28_numv,h29_numv,h30_numv,h31_numv,h32_numv,h33_numv,h34_numv,h35_numv,h36_numv,h37_numv,h38_numv,h39_numv,h40_numv,h41_numv,h42_numv,h43_numv,h44_numv,h45_numv,h46_numv,h47_numv,h48_numv,h49_numv,h50_numv,h51_numv,h52_numv,h53_numv,h54_numv,h55_numv,h56_numv,h57_numv,h58_numv,h59_numv,h60_numv,h61_numv,h62_numv,h63_numv,h64_numv,h65_numv,h66_numv,h67_numv,h68_numv,h69_numv,h70_numv,h71_numv,h72_numv,h73_numv,h74_numv,h75_numv,h76_numv,h77_numv,h78_numv,h79_numv,h80_numv,h81_numv,h82_numv,h83_numv,h84_numv,h85_numv,h86_numv,h87_numv,h88_numv,h89_numv,
+};
+public static final int[] halton_numf = { // [ halton_numc ] = {
+  h00_numf,h01_numf,h02_numf,h03_numf,h04_numf,h05_numf,h06_numf,h07_numf,h08_numf,h09_numf,h10_numf,h11_numf,h12_numf,h13_numf,h14_numf,h15_numf,h16_numf,h17_numf,h18_numf,h19_numf,h20_numf,h21_numf,h22_numf,h23_numf,h24_numf,h25_numf,h26_numf,h27_numf,h28_numf,h29_numf,h30_numf,h31_numf,h32_numf,h33_numf,h34_numf,h35_numf,h36_numf,h37_numf,h38_numf,h39_numf,h40_numf,h41_numf,h42_numf,h43_numf,h44_numf,h45_numf,h46_numf,h47_numf,h48_numf,h49_numf,h50_numf,h51_numf,h52_numf,h53_numf,h54_numf,h55_numf,h56_numf,h57_numf,h58_numf,h59_numf,h60_numf,h61_numf,h62_numf,h63_numf,h64_numf,h65_numf,h66_numf,h67_numf,h68_numf,h69_numf,h70_numf,h71_numf,h72_numf,h73_numf,h74_numf,h75_numf,h76_numf,h77_numf,h78_numf,h79_numf,h80_numf,h81_numf,h82_numf,h83_numf,h84_numf,h85_numf,h86_numf,h87_numf,h88_numf,h89_numf,
+};
+public static final double[] halton_volu = { // [ halton_numc ] = {
+  h00_volu,h01_volu,h02_volu,h03_volu,h04_volu,h05_volu,h06_volu,h07_volu,h08_volu,h09_volu,h10_volu,h11_volu,h12_volu,h13_volu,h14_volu,h15_volu,h16_volu,h17_volu,h18_volu,h19_volu,h20_volu,h21_volu,h22_volu,h23_volu,h24_volu,h25_volu,h26_volu,h27_volu,h28_volu,h29_volu,h30_volu,h31_volu,h32_volu,h33_volu,h34_volu,h35_volu,h36_volu,h37_volu,h38_volu,h39_volu,h40_volu,h41_volu,h42_volu,h43_volu,h44_volu,h45_volu,h46_volu,h47_volu,h48_volu,h49_volu,h50_volu,h51_volu,h52_volu,h53_volu,h54_volu,h55_volu,h56_volu,h57_volu,h58_volu,h59_volu,h60_volu,h61_volu,h62_volu,h63_volu,h64_volu,h65_volu,h66_volu,h67_volu,h68_volu,h69_volu,h70_volu,h71_volu,h72_volu,h73_volu,h74_volu,h75_volu,h76_volu,h77_volu,h78_volu,h79_volu,h80_volu,h81_volu,h82_volu,h83_volu,h84_volu,h85_volu,h86_volu,h87_volu,h88_volu,h89_volu,
+};
+public static final double[][] halton_pos = { // [ halton_numc ] = {
+  h00_pos,h01_pos,h02_pos,h03_pos,h04_pos,h05_pos,h06_pos,h07_pos,h08_pos,h09_pos,h10_pos,h11_pos,h12_pos,h13_pos,h14_pos,h15_pos,h16_pos,h17_pos,h18_pos,h19_pos,h20_pos,h21_pos,h22_pos,h23_pos,h24_pos,h25_pos,h26_pos,h27_pos,h28_pos,h29_pos,h30_pos,h31_pos,h32_pos,h33_pos,h34_pos,h35_pos,h36_pos,h37_pos,h38_pos,h39_pos,h40_pos,h41_pos,h42_pos,h43_pos,h44_pos,h45_pos,h46_pos,h47_pos,h48_pos,h49_pos,h50_pos,h51_pos,h52_pos,h53_pos,h54_pos,h55_pos,h56_pos,h57_pos,h58_pos,h59_pos,h60_pos,h61_pos,h62_pos,h63_pos,h64_pos,h65_pos,h66_pos,h67_pos,h68_pos,h69_pos,h70_pos,h71_pos,h72_pos,h73_pos,h74_pos,h75_pos,h76_pos,h77_pos,h78_pos,h79_pos,h80_pos,h81_pos,h82_pos,h83_pos,h84_pos,h85_pos,h86_pos,h87_pos,h88_pos,h89_pos,
+};
+public static final double[][] halton_verts = { // [ halton_numc ] = {
+  h00_verts,h01_verts,h02_verts,h03_verts,h04_verts,h05_verts,h06_verts,h07_verts,h08_verts,h09_verts,h10_verts,h11_verts,h12_verts,h13_verts,h14_verts,h15_verts,h16_verts,h17_verts,h18_verts,h19_verts,h20_verts,h21_verts,h22_verts,h23_verts,h24_verts,h25_verts,h26_verts,h27_verts,h28_verts,h29_verts,h30_verts,h31_verts,h32_verts,h33_verts,h34_verts,h35_verts,h36_verts,h37_verts,h38_verts,h39_verts,h40_verts,h41_verts,h42_verts,h43_verts,h44_verts,h45_verts,h46_verts,h47_verts,h48_verts,h49_verts,h50_verts,h51_verts,h52_verts,h53_verts,h54_verts,h55_verts,h56_verts,h57_verts,h58_verts,h59_verts,h60_verts,h61_verts,h62_verts,h63_verts,h64_verts,h65_verts,h66_verts,h67_verts,h68_verts,h69_verts,h70_verts,h71_verts,h72_verts,h73_verts,h74_verts,h75_verts,h76_verts,h77_verts,h78_verts,h79_verts,h80_verts,h81_verts,h82_verts,h83_verts,h84_verts,h85_verts,h86_verts,h87_verts,h88_verts,h89_verts,
+};
+public static final int[][] halton_faces = { // [ halton_numc ] = {
+  h00_faces,h01_faces,h02_faces,h03_faces,h04_faces,h05_faces,h06_faces,h07_faces,h08_faces,h09_faces,h10_faces,h11_faces,h12_faces,h13_faces,h14_faces,h15_faces,h16_faces,h17_faces,h18_faces,h19_faces,h20_faces,h21_faces,h22_faces,h23_faces,h24_faces,h25_faces,h26_faces,h27_faces,h28_faces,h29_faces,h30_faces,h31_faces,h32_faces,h33_faces,h34_faces,h35_faces,h36_faces,h37_faces,h38_faces,h39_faces,h40_faces,h41_faces,h42_faces,h43_faces,h44_faces,h45_faces,h46_faces,h47_faces,h48_faces,h49_faces,h50_faces,h51_faces,h52_faces,h53_faces,h54_faces,h55_faces,h56_faces,h57_faces,h58_faces,h59_faces,h60_faces,h61_faces,h62_faces,h63_faces,h64_faces,h65_faces,h66_faces,h67_faces,h68_faces,h69_faces,h70_faces,h71_faces,h72_faces,h73_faces,h74_faces,h75_faces,h76_faces,h77_faces,h78_faces,h79_faces,h80_faces,h81_faces,h82_faces,h83_faces,h84_faces,h85_faces,h86_faces,h87_faces,h88_faces,h89_faces,
+};
+public static final double[][] halton_planes = { // [ halton_numc ] = {
+  h00_planes,h01_planes,h02_planes,h03_planes,h04_planes,h05_planes,h06_planes,h07_planes,h08_planes,h09_planes,h10_planes,h11_planes,h12_planes,h13_planes,h14_planes,h15_planes,h16_planes,h17_planes,h18_planes,h19_planes,h20_planes,h21_planes,h22_planes,h23_planes,h24_planes,h25_planes,h26_planes,h27_planes,h28_planes,h29_planes,h30_planes,h31_planes,h32_planes,h33_planes,h34_planes,h35_planes,h36_planes,h37_planes,h38_planes,h39_planes,h40_planes,h41_planes,h42_planes,h43_planes,h44_planes,h45_planes,h46_planes,h47_planes,h48_planes,h49_planes,h50_planes,h51_planes,h52_planes,h53_planes,h54_planes,h55_planes,h56_planes,h57_planes,h58_planes,h59_planes,h60_planes,h61_planes,h62_planes,h63_planes,h64_planes,h65_planes,h66_planes,h67_planes,h68_planes,h69_planes,h70_planes,h71_planes,h72_planes,h73_planes,h74_planes,h75_planes,h76_planes,h77_planes,h78_planes,h79_planes,h80_planes,h81_planes,h82_planes,h83_planes,h84_planes,h85_planes,h86_planes,h87_planes,h88_planes,h89_planes,
+};
+
+}
\ No newline at end of file
diff --git a/demo/src/main/java/org/ode4j/demo/Halton235Geom40.java b/demo/src/main/java/org/ode4j/demo/Halton235Geom40.java
new file mode 100644
index 00000000..1ccde8c5
--- /dev/null
+++ b/demo/src/main/java/org/ode4j/demo/Halton235Geom40.java
@@ -0,0 +1,1050 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
+ * All rights reserved.  Email: ode4j@gmx.de   Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
+ * details.                                                              *
+ *                                                                       *
+ *************************************************************************/
+package org.ode4j.demo;
+// Generated by ./Tools/mksrc.py
+
+public class Halton235Geom40 {
+// h00
+public static final int h00_numv = 14;
+public static final int h00_numf = 9;
+public static final double h00_volu = 0.105869;
+public static final double[] h00_pos = { -0.801161,-0.825905,-0.503586 };
+public static final double[] h00_verts = { // [ h00_numv * 3 ] = {
+  -0.198839,-0.174095,-0.496414, -0.198839,-0.073069,-0.496414, 0.355754,-0.174095,0.317906, 0.266263,0.078525,-0.113353, -0.198839,0.418138,0.148658, -0.198839,0.151957,0.285583, -0.004749,-0.165186,-0.496414, -0.198839,0.342511,-0.068863, -0.198839,-0.174095,0.341490, 0.030157,-0.174095,0.397398, -0.005096,-0.174095,-0.496414, 0.428901,-0.174095,0.139324, -0.198839,0.419530,0.145078, -0.111897,0.386202,0.018538, 
+};
+public static final int[] h00_faces = {
+  5, 7,13,3,6,1,
+  4, 6,10,0,1,
+  7, 0,8,5,4,12,7,1,
+  6, 11,3,13,12,4,2,
+  4, 4,5,9,2,
+  6, 9,8,0,10,11,2,
+  4, 11,10,6,3,
+  3, 8,9,5,
+  3, 12,13,7,
+};
+public static final double[] h00_planes = { // [ h00_numf * 4 ] = {
+  0.322183,0.678839,-0.659831,0.213885,0,0,-1,0.496414,-1,3.46515e-16,1.34725e-16,0.198839,0.66261,0.69806,0.271405,0.200478,0.212159,0.447018,0.869002,0.273913,-0,-1,0,0.174095,0.825473,-0.0322069,-0.563523,0.281141,-0.233951,0.164312,0.958263,0.34515,-0.131169,0.932758,-0.335793,0.368685
+};
+// h01
+public static final int h01_numv = 16;
+public static final int h01_numf = 10;
+public static final double h01_volu = 0.123003;
+public static final double[] h01_pos = { -0.669502,-0.555335,-0.800913 };
+public static final double[] h01_verts = { // [ h01_numv * 3 ] = {
+  0.137874,0.266251,0.316069, -0.136407,-0.435756,-0.199087, -0.330498,0.127352,-0.199087, 0.378917,-0.091301,0.019367, 0.437409,0.033623,-0.016334, 0.038469,0.311615,0.180723, -0.330498,-0.343638,-0.199087, 0.193689,-0.157234,0.188948, 0.276656,-0.200503,-0.199087, 0.399981,0.033623,-0.199087, -0.039317,0.311615,-0.199087, -0.330498,0.071941,0.228464, 0.134604,-0.192045,0.183974, -0.243556,0.115632,0.315865, 0.128360,0.261346,0.324519, -0.053858,0.233367,0.333678, 
+};
+public static final int[] h01_faces = {
+  5, 8,3,7,12,1,
+  5, 12,13,11,6,1,
+  6, 6,2,10,9,8,1,
+  6, 11,13,15,5,10,2,
+  3, 6,11,2,
+  4, 8,9,4,3,
+  5, 4,0,14,7,3,
+  5, 9,10,5,0,4,
+  4, 15,14,0,5,
+  5, 14,15,13,12,7,
+};
+public static final double[] h01_planes = { // [ h01_numf * 4 ] = {
+  0.485031,-0.851631,0.198669,0.265389,-0.322183,-0.678839,0.659831,0.208392,0,0,-1,0.199087,-0.53156,0.839996,0.108863,0.260981,-1,0,-0,0.330498,0.870584,-0.458578,-0.178296,0.368295,0.693474,-0.121763,0.710118,0.287639,0.531559,0.839996,-0.108863,0.26253,-0.120149,0.911352,0.393704,0.35052,0.0929092,-0.293639,0.951391,0.243929
+};
+// h02
+public static final int h02_numv = 22;
+public static final int h02_numf = 13;
+public static final double h02_volu = 0.069699;
+public static final double[] h02_pos = { -0.226726,-0.554920,-0.490680 };
+public static final double[] h02_verts = { // [ h02_numv * 3 ] = {
+  0.092179,-0.226103,0.260087, -0.296734,0.272195,0.041665, -0.063859,-0.091716,-0.290866, 0.291800,-0.116083,-0.104671, -0.005367,0.033207,-0.326567, 0.057499,0.071569,-0.315604, -0.314416,0.260931,0.014286, 0.001987,-0.310858,0.106391, 0.200664,0.041526,0.249449, -0.249087,-0.157649,-0.121285, 0.164143,-0.213455,-0.116915, 0.086533,-0.112211,0.311781, 0.301609,-0.100599,-0.031006, -0.013037,0.041374,0.269240, 0.214238,-0.145305,0.159971, -0.177599,0.337949,0.022880, -0.304902,0.265836,0.005836, 0.151444,0.029502,0.298046, 0.226514,0.065723,0.196331, -0.078156,0.329100,-0.024159, 0.053890,0.084483,0.272741, -0.198047,0.327898,0.050872, 
+};
+public static final int[] h02_faces = {
+  4, 13,20,21,1,
+  5, 21,15,16,6,1,
+  7, 6,9,7,0,11,13,1,
+  5, 9,6,16,4,2,
+  5, 4,5,3,10,2,
+  4, 10,7,9,2,
+  5, 5,19,18,12,3,
+  6, 12,14,0,7,10,3,
+  5, 16,15,19,5,4,
+  7, 18,19,15,21,20,17,8,
+  5, 17,11,0,14,8,
+  4, 14,12,18,8,
+  4, 17,20,13,11,
+};
+public static final double[] h02_planes = { // [ h02_numf * 4 ] = {
+  -0.322885,0.43293,0.841615,0.248718,-0.488006,0.871758,-0.0434537,0.380285,-0.73548,-0.309929,0.602505,0.158984,-0.693474,0.121763,-0.710118,0.239666,0.398278,-0.419584,-0.815674,0.250302,-0.11362,-0.877785,-0.465387,0.223128,0.726907,0.646142,-0.23261,0.161453,0.598819,-0.796079,0.0875987,0.257978,-0.27553,0.653111,-0.705358,0.253514,0.315015,0.796483,0.516121,0.225033,0.709719,-0.26169,0.654077,0.294707,0.913105,-0.120244,0.389591,0.275417,-0.158394,0.166869,0.973173,0.270985
+};
+// h03
+public static final int h03_numv = 18;
+public static final int h03_numf = 11;
+public static final double h03_volu = 0.069585;
+public static final double[] h03_pos = { -0.013871,-0.718833,-0.869565 };
+public static final double[] h03_verts = { // [ h03_numv * 3 ] = {
+  -0.207492,-0.281167,-0.130435, 0.113468,0.049972,0.264160, -0.007999,0.353837,-0.130435, 0.078945,0.047830,0.274214, -0.003048,-0.281167,0.119131, -0.048711,-0.049541,0.261970, -0.155356,0.235482,0.063281, 0.163083,-0.281167,0.065052, -0.378975,-0.037005,-0.130435, -0.276714,0.072197,0.088019, 0.263172,-0.281167,-0.130435, 0.247851,0.256254,-0.130435, 0.308871,0.008019,-0.130435, 0.268707,0.210552,0.010520, 0.116203,0.335344,-0.130435, 0.263499,0.226082,-0.009852, -0.255650,0.197121,-0.130435, -0.218222,0.197121,0.052318, 
+};
+public static final int[] h03_faces = { // [] = {
+  7, 13,15,14,2,6,3,1,
+  5, 3,5,4,7,1,
+  5, 7,10,12,13,1,
+  4, 16,17,6,2,
+  8, 14,11,12,10,0,8,16,2,
+  5, 6,17,9,5,3,
+  5, 5,9,8,0,4,
+  4, 0,10,7,4,
+  4, 9,17,16,8,
+  3, 14,15,11,
+  4, 15,13,12,11,
+};
+public static final double[] h03_planes = { // [ h03_numf * 4 ] = {
+  0.119725,0.804079,0.582343,0.207598,0.274018,-0.465094,0.841785,0.230216,0.881437,-0.139289,0.451296,0.212269,-0.53156,0.839996,0.108863,0.287274,0,-0,-1,0.130435,-0.398278,0.419584,0.815674,0.212296,-0.679728,-0.477395,0.556833,0.202635,-0,-1,-0,0.281167,-0.870584,0.458578,0.178296,0.289704,0.509459,0.848006,0.146072,0.324522,0.968964,0.238186,-0.066148,0.309823
+};
+// h04
+public static final int h04_numv = 18;
+public static final int h04_numf = 11;
+public static final double h04_volu = 0.049776;
+public static final double[] h04_pos = { 0.037853,-0.892026,-0.431971 };
+public static final double[] h04_verts = { // [ h04_numv * 3 ] = {
+  -0.100436,0.123651,-0.175624, 0.353999,-0.060233,0.083056, 0.061744,0.223165,-0.173434, -0.054772,-0.107974,-0.318463, 0.079577,0.232813,-0.134685, 0.365414,-0.107974,0.061633, 0.111359,-0.107974,-0.372542, -0.262592,0.026248,0.047682, -0.327682,-0.107974,0.107959, -0.050341,0.191801,0.101262, -0.248632,-0.107974,0.379486, -0.172400,0.111003,0.201378, 0.324182,-0.074827,0.146980, 0.312271,-0.107974,0.174077, -0.248842,-0.086035,0.364515, -0.264984,-0.107974,0.352871, 0.027221,0.221023,-0.163380, 0.037030,0.236507,-0.089715, 
+};
+public static final int[] h04_faces = {
+  4, 12,13,5,1,
+  5, 5,6,2,4,1,
+  5, 4,17,9,12,1,
+  4, 16,17,4,2,
+  5, 6,3,0,16,2,
+  4, 8,7,0,3,
+  7, 6,5,13,10,15,8,3,
+  5, 8,15,14,11,7,
+  6, 11,9,17,16,0,7,
+  6, 11,14,10,13,12,9,
+  3, 14,15,10,
+};
+public static final double[] h04_planes = { // [ h04_numf * 4 ] = {
+  0.903842,0.0244154,0.42717,0.353968,0.79204,0.397342,-0.463457,0.217956,0.496382,0.766976,0.406636,0.163295,-0.11569,0.975032,-0.189546,0.243324,-0.274018,0.465094,-0.841785,0.232868,-0.83085,0.164121,-0.531744,0.197127,0,-1,0,0.107974,-0.837582,0.502473,0.214421,0.243355,-0.598819,0.796079,-0.0875987,0.173963,0.289106,0.541464,0.789452,0.169241,-0.80443,0.32957,0.494242,0.35198
+};
+// h05
+public static final int h05_numv = 12;
+public static final int h05_numf = 8;
+public static final double h05_volu = 0.060052;
+public static final double[] h05_pos = { -0.361440,-0.882680,-0.728709 };
+public static final double[] h05_verts = { // [ h05_numv * 3 ] = {
+  -0.444817,-0.117320,-0.271291, 0.140076,-0.117320,-0.271291, 0.136701,0.016901,0.344420, -0.031407,0.126842,-0.271291, 0.070855,0.236044,-0.052837, -0.114373,0.170111,0.116744, 0.344521,-0.117320,-0.021725, 0.298857,0.114305,0.121114, -0.444469,-0.108411,-0.271291, 0.071611,-0.117320,0.404697, -0.173458,0.135300,0.111770, -0.010820,-0.117320,0.364447, 
+};
+public static final int[] h05_faces = {
+  5, 3,4,7,6,1,
+  5, 6,9,11,0,1,
+  4, 0,8,3,1,
+  5, 5,10,11,9,2,
+  4, 9,6,7,2,
+  4, 7,4,5,2,
+  5, 8,10,5,4,3,
+  4, 0,11,10,8,
+};
+public static final double[] h05_planes = { // [ h05_numf * 4 ] = {
+  0.679728,0.477395,-0.556833,0.190269,0,-1,0,0.11732,0,0,-1,0.271291,-0.373525,0.524676,0.76498,0.221281,0.83085,-0.164121,0.531744,0.293948,0.11362,0.877785,0.465387,0.190656,-0.485031,0.851631,-0.198669,0.177153,-0.825473,0.0322069,0.563523,0.210527
+};
+// h06
+public static final int h06_numv = 16;
+public static final int h06_numf = 10;
+public static final double h06_volu = 0.067458;
+public static final double[] h06_pos = { 0.885250,-0.616510,-0.689541 };
+public static final double[] h06_verts = { // [ h06_numv * 3 ] = {
+  -0.230633,-0.043361,0.025874, -0.001305,-0.383490,-0.079103, 0.114750,-0.383490,0.055891, 0.114750,0.141993,-0.310459, 0.042572,0.157183,0.322917, 0.114750,0.349093,0.009138, 0.114750,-0.209139,-0.310459, 0.114750,-0.383490,-0.220772, 0.114750,0.143660,0.326163, -0.023969,0.120047,-0.310459, -0.230634,0.218132,-0.108639, -0.072958,0.349093,0.054965, -0.138827,-0.119612,0.199579, 0.020027,-0.383490,0.025057, -0.041036,-0.038390,0.301047, 0.114750,-0.091790,0.305977, 
+};
+public static final int[] h06_faces = {
+  6, 0,10,9,6,7,1,
+  4, 7,2,13,1,
+  4, 13,12,0,1,
+  5, 15,14,12,13,2,
+  7, 7,6,3,5,8,15,2,
+  5, 9,10,11,5,3,
+  3, 6,9,3,
+  4, 14,15,8,4,
+  4, 8,5,11,4,
+  6, 11,10,0,12,14,4,
+};
+public static final double[] h06_planes = { // [ h06_numf * 4 ] = {
+  -0.735479,-0.309932,-0.602505,0.167476,0,-1,0,0.38349,-0.794108,-0.585614,0.162633,0.212748,-0.239912,-0.631869,0.73701,0.255977,1,-0,0,0.11475,-0.131611,0.831909,-0.539079,0.270385,0,0,-1,0.310459,-0.0606999,-0.0852635,0.994508,0.305158,0.131611,0.831909,0.539078,0.310442,-0.793214,0.278548,0.541501,0.184874
+};
+// h07
+public static final int h07_numv = 18;
+public static final int h07_numf = 11;
+public static final double h07_volu = 0.100040;
+public static final double[] h07_pos = { 0.439796,-0.816642,-0.690430 };
+public static final double[] h07_verts = { // [ h07_numv * 3 ] = {
+  -0.290584,-0.183358,-0.114083, 0.444149,-0.183358,-0.078214, -0.340199,0.147781,0.085025, -0.036530,-0.183358,0.320092, -0.047944,-0.135617,0.341515, 0.306627,0.080520,0.200468, -0.322367,0.157429,0.123774, 0.465481,-0.183358,0.025945, 0.214820,0.156771,0.026763, -0.144796,0.105827,-0.309570, 0.159858,-0.183358,-0.309570, -0.190496,-0.183358,-0.309570, -0.155412,0.298926,0.091748, -0.184960,0.308361,-0.168615, -0.134267,0.332806,-0.106403, 0.196572,0.110989,0.274357, -0.157992,0.325768,-0.131745, -0.142419,0.333870,-0.095406, 
+};
+public static final int[] h07_faces = {
+  7, 10,9,13,16,14,8,1,
+  4, 8,5,7,1,
+  6, 7,3,0,11,10,1,
+  6, 6,12,17,16,13,2,
+  5, 13,9,11,0,2,
+  5, 0,3,4,6,2,
+  5, 7,5,15,4,3,
+  4, 15,12,6,4,
+  6, 8,14,17,12,15,5,
+  3, 10,11,9,
+  3, 16,17,14,
+};
+public static final double[] h07_planes = { // [ h07_numf * 4 ] = {
+  0.525603,0.55372,-0.645861,0.182432,0.794108,0.585614,-0.162633,0.258045,0,-1,0,0.183358,-0.632147,0.768422,0.0995875,0.337082,-0.881437,0.139289,-0.451296,0.282078,-0.79204,-0.397342,0.463457,0.250137,0.488522,-0.25733,0.833743,0.296212,-0.212159,0.447016,0.869003,0.246326,0.381225,0.903643,0.195187,0.228784,-1.58443e-16,2.50379e-17,-1,0.30957,-0.105626,0.979232,-0.173057,0.35849
+};
+// h08
+public static final int h08_numv = 22;
+public static final int h08_numf = 13;
+public static final double h08_volu = 0.095115;
+public static final double[] h08_pos = { 0.582909,-0.382310,-0.514785 };
+public static final double[] h08_verts = { // [ h08_numv * 3 ] = {
+  0.039696,0.333763,-0.114253, -0.040720,0.073975,-0.343437, -0.281418,0.194479,0.107755, 0.071707,-0.016068,-0.283395, 0.071707,-0.277561,-0.148882, 0.163514,-0.353812,0.024824, 0.072380,0.310495,-0.182078, 0.344912,-0.077018,0.148161, 0.229382,0.114893,-0.119790, 0.056106,0.251986,0.176207, 0.261304,-0.272590,0.126291, 0.053460,-0.323343,0.098712, -0.280479,0.198156,0.096008, -0.285532,-0.100462,-0.271051, 0.094134,-0.250952,0.200497, -0.277380,-0.101526,-0.282048, -0.010614,0.002589,0.315575, -0.026292,0.211375,0.249710, 0.146296,0.123570,0.286302, 0.056041,0.119791,0.321947, -0.290185,0.102104,0.127875, -0.298525,-0.135406,-0.083897, 
+};
+public static final int[] h08_faces = { // [] = {
+  6, 15,13,12,0,6,1,
+  4, 6,8,3,1,
+  4, 3,4,15,1,
+  5, 20,16,19,17,2,
+  5, 17,9,0,12,2,
+  5, 12,13,21,20,2,
+  6, 8,7,10,5,4,3,
+  6, 5,11,21,13,15,4,
+  4, 10,14,11,5,
+  6, 0,9,18,7,8,6,
+  6, 18,19,16,14,10,7,
+  4, 17,19,18,9,
+  5, 14,16,20,21,11,
+};
+public static final double[] h08_planes = { // [ h08_numf * 4 ] = {
+  -0.595386,0.627237,-0.502085,0.243079,0.598205,0.236327,-0.765702,0.256094,0.107916,-0.45476,-0.884052,0.265581,-0.484779,0.229821,0.843903,0.272055,-0.215549,0.936705,0.275902,0.272559,-0.995125,0.0827659,-0.053632,0.290362,0.793214,-0.278548,-0.541501,0.214813,-0.381225,-0.903643,-0.195187,0.252539,0.131611,-0.83191,0.539077,0.329242,0.750032,0.646492,0.139642,0.229594,0.364346,-0.255892,0.895417,0.278042,0.228161,0.721101,0.654183,0.30978,-0.595564,-0.522855,0.609857,0.197424
+};
+// h09
+public static final int h09_numv = 16;
+public static final int h09_numf = 10;
+public static final double h09_volu = 0.059582;
+public static final double[] h09_pos = { 0.627742,-0.657906,-0.898694 };
+public static final double[] h09_verts = { // [ h09_numv * 3 ] = {
+  -0.028087,-0.342094,-0.101306, 0.372258,-0.342094,-0.101306, 0.233539,0.161443,-0.101306, 0.372258,-0.167743,-0.101306, 0.256203,-0.342094,0.130050, 0.372258,-0.342094,-0.011619, -0.322212,0.174071,0.101861, 0.026875,-0.001965,0.235027, -0.098160,0.388838,-0.101306, 0.026875,0.259528,0.100514, -0.332742,-0.052909,-0.101306, -0.085552,0.349571,0.040471, -0.393762,0.195327,-0.101306, -0.372906,0.149626,0.039648, -0.378114,0.165155,0.019276, -0.345937,0.167033,0.076519, 
+};
+public static final int[] h09_faces = { // [] = {
+  7, 0,10,12,8,2,3,1,
+  3, 3,5,1,
+  4, 5,4,0,1,
+  4, 8,11,9,2,
+  6, 9,7,4,5,3,2,
+  7, 7,6,15,13,10,0,4,
+  6, 11,8,12,14,15,6,
+  4, 7,9,11,6,
+  4, 13,14,12,10,
+  3, 15,14,13,
+};
+public static final double[] h09_planes = { // [ h09_numf * 4 ] = {
+  0,0,-1,0.101306,1,0,0,0.372258,0,-1,0,0.342094,0.55667,0.812007,0.175394,0.243329,0.735479,0.309932,0.602505,0.160762,-0.525603,-0.55372,0.645861,0.138757,-0.527367,0.805591,0.270012,0.337657,-0.107916,0.45476,0.884052,0.203982,-0.968964,-0.238186,0.066148,0.328316,-0.830322,0.320028,0.456232,0.375605
+};
+// h10
+public static final int h10_numv = 18;
+public static final int h10_numf = 11;
+public static final double h10_volu = 0.082139;
+public static final double[] h10_pos = { -0.348593,-0.203405,-0.827574 };
+public static final double[] h10_verts = { // [ h10_numv * 3 ] = {
+  0.351136,-0.038001,-0.172426, 0.318157,0.110282,-0.172426, -0.183035,-0.085679,0.342730, -0.360226,-0.040315,-0.172426, 0.190400,0.248876,-0.172426, 0.296736,0.161596,-0.025823, 0.116500,-0.318307,0.010327, -0.282440,-0.040315,0.207384, -0.155944,0.334915,-0.140051, -0.055732,-0.013566,0.359774, 0.296359,0.169251,-0.045236, -0.155944,0.347503,-0.172426, 0.079072,-0.318307,-0.172426, 0.043711,-0.022416,0.312735, 0.326723,-0.161591,-0.172426, 0.179366,-0.279946,0.021290, 0.100706,0.105108,0.263039, 0.042697,0.111008,0.290353, 
+};
+public static final int[] h10_faces = { // [] = {
+  4, 10,5,0,1,
+  7, 0,14,12,3,11,4,1,
+  3, 4,10,1,
+  5, 6,15,13,9,2,
+  5, 9,17,8,7,2,
+  5, 7,3,12,6,2,
+  4, 7,8,11,3,
+  7, 11,8,17,16,5,10,4,
+  6, 16,13,15,14,0,5,
+  4, 12,14,15,6,
+  4, 13,16,17,9,
+};
+public static final double[] h10_planes = { // [ h10_numf * 4 ] = {
+  0.973989,0.216619,0.066491,0.322306,-0,0,-1,0.172426,0.722579,0.66608,-0.18498,0.335245,0.27553,-0.653111,0.705358,0.247274,-0.46199,0.681388,0.567693,0.220745,-0.531559,-0.839996,0.108863,0.206575,-0.870584,0.458578,0.178296,0.264376,0.256529,0.900843,0.350248,0.212649,0.830851,-0.164118,0.531744,0.206291,0.53156,-0.839996,-0.108863,0.328179,0.433652,0.152283,0.888119,0.293288
+};
+// h11
+public static final int h11_numv = 18;
+public static final int h11_numf = 11;
+public static final double h11_volu = 0.058443;
+public static final double[] h11_pos = { -0.902277,0.042835,-0.283464 };
+public static final double[] h11_verts = { // [ h11_numv * 3 ] = {
+  0.065494,-0.341848,-0.057123, 0.194525,0.153131,-0.091230, -0.097723,-0.350111,0.163707, 0.194525,-0.144351,0.061796, 0.065493,0.122511,-0.295991, -0.097723,-0.183345,0.306682, -0.097723,0.152153,0.335446, -0.097723,-0.428001,-0.052654, 0.107269,-0.156775,0.196004, -0.097723,0.199975,-0.375687, 0.037223,0.358435,0.033582, -0.097723,0.406471,-0.057020, -0.067761,-0.416891,-0.051054, -0.040073,-0.340339,0.134552, 0.056142,-0.350169,-0.055126, 0.004412,-0.376327,-0.008857, 0.025793,-0.108438,0.290488, -0.096343,0.152412,0.335215, 
+};
+public static final int[] h11_faces = { // [] = {
+  5, 4,9,11,10,1,
+  6, 10,17,16,8,3,1,
+  4, 3,0,4,1,
+  5, 7,12,15,13,2,
+  5, 13,8,16,5,2,
+  6, 5,6,11,9,7,2,
+  6, 8,13,15,14,0,3,
+  6, 0,14,12,7,9,4,
+  4, 16,17,6,5,
+  4, 17,10,11,6,
+  3, 14,15,12,
+};
+public static final double[] h11_planes = { // [ h11_numf * 4 ] = {
+  0.553062,0.69918,-0.453068,0.255983,0.793213,0.278551,0.5415,0.147553,0.835369,-0.251444,-0.48881,0.168589,0.314046,-0.893286,0.321583,0.334705,0.443092,-0.583496,0.68059,0.272405,-1,0,0,0.0977235,0.66062,-0.653782,0.368986,0.245683,0.212159,-0.447018,-0.869002,0.216347,0.179474,-0.0840327,0.980167,0.298468,-0.066237,0.837367,0.542613,0.315898,0.474713,-0.879502,0.0335246,0.332778
+};
+// h12
+public static final int h12_numv = 22;
+public static final int h12_numf = 13;
+public static final double h12_volu = 0.106128;
+public static final double[] h12_pos = { -0.838340,-0.076123,-0.758521 };
+public static final double[] h12_verts = { // [ h12_numv * 3 ] = {
+  0.207307,-0.167597,0.138331, 0.129521,-0.167597,-0.241479, -0.161660,0.318933,0.099371, 0.312802,0.272050,-0.241479, -0.161660,-0.330252,0.400013, -0.074718,-0.363580,0.273473, 0.001556,0.241469,0.179066, -0.161660,-0.309043,0.422403, -0.161660,-0.407271,0.186072, -0.161660,-0.351860,-0.241479, -0.007794,-0.231211,0.419931, 0.001557,-0.222890,0.417934, 0.309084,0.269226,-0.210613, -0.161660,0.422173,-0.241479, 0.072963,0.309250,0.057032, -0.161660,0.392766,-0.014569, -0.131698,-0.297933,0.424004, -0.161660,-0.327468,0.404309, 0.114980,-0.245845,0.291286, 0.009169,-0.227496,0.411012, 0.333803,0.207633,-0.209104, 0.333803,0.220221,-0.241479, 
+};
+public static final int[] h12_faces = { // [] = {
+  6, 0,18,5,8,9,1,
+  5, 9,13,3,21,1,
+  4, 21,20,0,1,
+  4, 6,14,15,2,
+  8, 15,13,9,8,4,17,7,2,
+  6, 7,16,10,11,6,2,
+  4, 12,20,21,3,
+  5, 13,15,14,12,3,
+  7, 5,18,19,10,16,17,4,
+  3, 8,5,4,
+  8, 11,19,18,0,20,12,14,6,
+  3, 17,16,7,
+  3, 19,11,10,
+};
+public static final double[] h12_planes = { // [ h12_numf * 4 ] = {
+  0.53156,-0.839996,-0.108863,0.235917,0,0,-1,0.241479,0.870584,-0.458578,-0.178296,0.23267,0.131611,0.83191,0.539077,0.297616,-1,0,0,0.16166,-0.212159,0.447018,0.869002,0.263219,0.917084,0.371595,0.144476,0.353071,0.299389,0.946218,0.12263,0.321456,0.425203,-0.759567,0.4922,0.378997,0.131169,-0.932758,0.335793,0.421162,0.735479,0.309932,0.602505,0.183872,0.216442,-0.684063,0.696571,0.470649,0.494656,-0.366713,0.787932,0.411811
+};
+// h13
+public static final int h13_numv = 22;
+public static final int h13_numf = 13;
+public static final double h13_volu = 0.080573;
+public static final double[] h13_pos = { -0.579196,0.019592,-0.524795 };
+public static final double[] h13_verts = { // [ h13_numv * 3 ] = {
+  -0.186181,0.213535,-0.176694, 0.154423,-0.034973,0.266436, 0.105286,0.335497,0.021835, 0.055737,-0.302317,0.075780, -0.128556,-0.121108,0.303127, 0.252786,0.058395,0.170378, -0.257588,0.145754,-0.054660, 0.097995,0.334920,0.024505, 0.093556,-0.038093,0.287537, 0.074659,0.111918,-0.442830, -0.051837,-0.263312,-0.095394, -0.257587,-0.318605,0.184208, 0.273300,-0.111989,-0.012426, 0.049940,0.173511,-0.444339, -0.026589,0.239892,0.129875, -0.128556,0.176374,0.150102, 0.038054,-0.313581,0.048402, 0.047568,-0.308676,0.039952, -0.249976,-0.323211,0.177286, -0.144164,-0.341560,0.057561, 0.174871,-0.236563,0.056995, 0.154423,-0.246614,0.084987, 
+};
+public static final int[] h13_faces = { // [] = {
+  5, 21,20,12,5,1,
+  6, 5,2,7,14,8,1,
+  7, 8,4,11,18,3,21,1,
+  5, 5,12,9,13,2,
+  4, 13,0,7,2,
+  5, 16,17,20,21,3,
+  4, 18,19,16,3,
+  4, 8,14,15,4,
+  4, 15,6,11,4,
+  5, 15,14,7,0,6,
+  8, 0,13,9,10,19,18,11,6,
+  5, 12,20,17,10,9,
+  4, 17,16,19,10,
+};
+public static final double[] h13_planes = { // [ h13_numf * 4 ] = {
+  0.805487,-0.385719,0.449901,0.257745,0.24653,0.556538,0.793403,0.229997,0.284317,-0.624016,0.727852,0.259655,0.904761,0.357436,-0.231619,0.21012,-0.184883,0.934913,-0.302912,0.287581,0.488006,-0.871758,0.0434537,0.29404,0.159459,-0.944944,0.285751,0.316215,-0.107916,0.45476,0.884052,0.226779,-0.835369,0.251444,0.48881,0.225111,-0.493234,0.850287,0.183662,0.240945,-0.735479,-0.309932,-0.602505,0.17721,0.46199,-0.681388,-0.567693,0.209624,0.120149,-0.911352,-0.393704,0.271298
+};
+// h14
+public static final int h14_numv = 24;
+public static final int h14_numf = 14;
+public static final double h14_volu = 0.092625;
+public static final double[] h14_pos = { 0.037294,-0.326434,-0.629340 };
+public static final double[] h14_verts = { // [ h14_numv * 3 ] = {
+  0.244511,-0.164440,-0.192835, -0.034752,0.085028,-0.370660, -0.037506,-0.162763,0.334991, -0.206521,-0.156917,-0.176944, 0.151340,0.267484,0.166363, 0.265137,0.142280,0.210563, 0.260084,-0.156338,-0.156496, -0.285181,0.228137,0.064806, 0.037588,-0.329085,0.107655, -0.342176,0.100614,0.114501, 0.027780,-0.344569,0.033990, -0.089151,0.284625,-0.224057, -0.059164,-0.038562,-0.370660, 0.065038,-0.057055,-0.370660, 0.036995,0.362842,0.085406, 0.062303,-0.342427,0.023935, 0.217542,-0.181847,-0.229705, 0.212334,-0.166317,-0.250077, 0.224212,0.171137,0.236256, 0.080136,-0.332779,0.062684, 0.146779,-0.002116,0.303773, 0.264198,0.138603,0.222310, 0.247091,-0.191282,0.030659, 0.255431,0.046228,0.242430, 
+};
+public static final int[] h14_faces = { // [] = {
+  6, 12,3,9,7,11,1,
+  9, 11,14,4,5,6,0,17,13,1,
+  3, 13,12,1,
+  6, 8,19,22,23,20,2,
+  7, 20,18,4,14,7,9,2,
+  5, 9,3,10,8,2,
+  7, 12,13,17,16,15,10,3,
+  4, 18,21,5,4,
+  5, 21,23,22,6,5,
+  6, 22,19,15,16,0,6,
+  3, 14,11,7,
+  4, 10,15,19,8,
+  3, 17,0,16,
+  4, 20,23,21,18,
+};
+public static final double[] h14_planes = { // [ h14_numf * 4 ] = {
+  -0.830851,0.164118,-0.531744,0.239924,0.738081,0.518376,-0.431883,0.178509,0,0,-1,0.37066,0.582463,-0.552262,0.596442,0.267845,-0.240814,0.443968,0.863077,0.225893,-0.726907,-0.646142,0.23261,0.210353,-0.119725,-0.804079,-0.582343,0.253941,0.662611,0.698059,0.271405,0.33215,0.995125,-0.0827659,0.053632,0.263362,0.632147,-0.768422,-0.0995875,0.300129,-0.380333,0.921564,-0.0778922,0.313659,0.11569,-0.975032,0.189546,0.345622,0.830322,-0.320028,-0.456232,0.343625,0.433652,0.152283,0.888119,0.333115
+};
+// h15
+public static final int h15_numv = 16;
+public static final int h15_numf = 10;
+public static final double h15_volu = 0.047330;
+public static final double[] h15_pos = { 0.221274,0.213040,-0.893886 };
+public static final double[] h15_verts = { // [ h15_numv * 3 ] = {
+  -0.273508,-0.247194,0.021075, -0.214206,0.249387,-0.106114, -0.394680,0.092354,-0.106114, 0.468273,-0.026582,-0.106114, -0.379467,-0.167569,-0.106114, -0.251710,-0.306163,-0.106114, -0.130453,-0.090301,0.212222, 0.215618,0.100683,0.162583, 0.108399,0.111587,0.216806, 0.543500,0.089559,-0.106114, 0.556660,0.080198,-0.106114, 0.496376,0.018888,-0.040935, 0.000444,-0.021162,0.246756, 0.322381,0.024676,0.097420, 0.541635,0.087788,-0.096097, 0.556215,0.081512,-0.106114, 
+};
+public static final int[] h15_faces = { // [] = {
+  5, 2,6,12,8,1,
+  5, 8,7,14,9,1,
+  8, 9,15,10,3,5,4,2,1,
+  4, 4,0,6,2,
+  3, 10,11,3,
+  7, 11,13,12,6,0,5,3,
+  3, 5,0,4,
+  6, 13,11,10,15,14,7,
+  4, 8,12,13,7,
+  3, 14,15,9,
+};
+public static final double[] h15_planes = { // [ h15_numf * 4 ] = {
+  -0.469359,0.539421,0.69909,0.160881,0.201934,0.957321,0.206781,0.173545,0,0,-1,0.106114,-0.781405,-0.0457332,0.622346,0.238142,0.765488,-0.633631,0.11198,0.363418,0.324513,-0.835692,0.443069,0.127159,-0.722579,-0.66608,0.18498,0.366181,0.613049,0.207593,0.762283,0.27702,0.433652,-0.152283,0.888119,0.222564,0.518906,0.82,0.241527,0.329834
+};
+// h16
+public static final int h16_numv = 24;
+public static final int h16_numf = 14;
+public static final double h16_volu = 0.105221;
+public static final double[] h16_pos = { -0.230932,0.200668,-0.677519 };
+public static final double[] h16_verts = { // [ h16_numv * 3 ] = {
+  0.072738,-0.155197,-0.322481, 0.178698,-0.234822,-0.195293, -0.074965,-0.293065,0.140297, -0.273605,-0.069158,-0.290106, -0.242978,0.154421,0.174559, 0.321753,-0.077929,-0.004145, 0.331656,-0.130769,0.158361, -0.234281,0.105965,-0.322481, 0.057526,0.104725,-0.322481, -0.070916,0.357222,-0.022485, 0.179075,-0.242477,-0.175878, 0.305221,-0.164260,0.133584, 0.289986,0.017556,0.326217, -0.205442,0.224195,0.181431, -0.273605,-0.056571,-0.322481, -0.016955,-0.298965,0.112984, -0.012263,0.183238,-0.322481, -0.122870,0.351842,-0.002882, -0.294606,-0.004741,-0.322481, -0.298324,-0.007565,-0.291615, 0.354068,-0.072999,0.110530, 0.306083,0.044665,0.287425, 0.072223,0.006072,0.394149, -0.095479,-0.122681,0.323101, 
+};
+public static final int[] h16_faces = { // [] = {
+  7, 10,15,2,3,14,0,1,
+  4, 0,8,5,1,
+  6, 5,20,6,11,10,1,
+  7, 15,11,6,12,22,23,2,
+  5, 23,4,19,3,2,
+  4, 19,18,14,3,
+  4, 23,22,13,4,
+  6, 13,17,7,18,19,4,
+  6, 8,16,9,21,20,5,
+  4, 20,21,12,6,
+  4, 17,9,16,7,
+  6, 16,8,0,14,18,7,
+  6, 17,13,22,12,21,9,
+  3, 11,15,10,
+};
+public static final double[] h16_planes = { // [ h16_numf * 4 ] = {
+  -0.256529,-0.900843,-0.350248,0.234098,0.781405,0.0457332,-0.622346,0.250435,0.837582,-0.502473,-0.214421,0.309541,0.247318,-0.694798,0.675344,0.27983,-0.904761,-0.357436,0.231619,0.205073,-0.917084,-0.371595,-0.144476,0.318531,-0.501077,0.186311,0.84511,0.298042,-0.876412,0.477567,-0.0618929,0.275891,0.726908,0.64614,-0.232611,0.184496,0.941719,-0.0992098,0.32144,0.376203,-0.28037,0.805551,-0.521997,0.31938,0,0,-1,0.322481,0.148211,0.780702,0.607074,0.254723,0.380333,-0.921564,0.0778922,0.277867
+};
+// h17
+public static final int h17_numv = 26;
+public static final int h17_numf = 15;
+public static final double h17_volu = 0.108916;
+public static final double[] h17_pos = { 0.335926,-0.094685,-0.795267 };
+public static final double[] h17_verts = { // [ h17_numv * 3 ] = {
+  0.319363,0.022871,0.098404, -0.388160,0.060531,-0.077543, 0.353621,0.281144,-0.204733, 0.207729,0.332401,-0.001198, 0.193656,-0.174383,-0.204733, -0.101947,-0.367894,-0.204733, -0.366362,0.001562,-0.204733, -0.261637,0.131093,0.251333, 0.356211,0.239639,0.008049, -0.212790,0.222354,0.228279, -0.038549,-0.388087,0.009431, -0.033495,-0.089469,0.376490, -0.054122,-0.396189,-0.026907, 0.286680,0.046139,0.166229, 0.206263,-0.213650,-0.062955, -0.030396,-0.389151,-0.001566, -0.086298,-0.398066,-0.084150, -0.233594,-0.288804,-0.204733, -0.114208,0.286563,0.148137, -0.245105,0.217424,0.113603, 0.376946,0.258587,-0.036908, 0.381724,0.326613,-0.139554, -0.147292,0.035735,0.332290, -0.235202,0.164584,0.276109, -0.333383,-0.146721,-0.204733, -0.387783,0.052876,-0.058130, 
+};
+public static final int[] h17_faces = { // [] = {
+  4, 6,24,25,1,
+  6, 25,7,23,9,19,1,
+  7, 19,18,3,21,2,6,1,
+  6, 21,20,0,14,4,2,
+  6, 4,5,17,24,6,2,
+  4, 8,20,21,3,
+  8, 18,9,23,22,11,13,8,3,
+  6, 14,15,12,16,5,4,
+  3, 16,17,5,
+  3, 22,23,7,
+  9, 25,24,17,16,12,10,11,22,7,
+  4, 13,0,20,8,
+  3, 18,19,9,
+  6, 15,14,0,13,11,10,
+  3, 12,15,10,
+};
+public static final double[] h17_planes = { // [ h17_numf * 4 ] = {
+  -0.973989,-0.216619,-0.066491,0.370108,-0.837582,0.502473,0.214421,0.338905,-0.324513,0.835692,-0.443069,0.210905,0.929286,-0.326334,-0.173016,0.27229,-4.07036e-16,-9.05266e-17,-1,0.204733,0.43192,0.742413,0.512121,0.335888,0.289106,0.541464,0.789452,0.239093,0.527367,-0.805591,-0.270012,0.297889,-0.509459,-0.848006,-0.146072,0.39382,-0.621965,-0.0849382,0.778424,0.347238,-0.738081,-0.518376,0.431883,0.2337,0.903842,0.0244154,0.42717,0.331247,-0.485104,0.868795,0.0993492,0.319085,0.595386,-0.627237,0.502085,0.225206,0.105626,-0.979232,0.173057,0.377587
+};
+// h18
+public static final int h18_numv = 18;
+public static final int h18_numf = 11;
+public static final double h18_volu = 0.081077;
+public static final double[] h18_pos = { 0.870716,-0.039183,-0.528244 };
+public static final double[] h18_verts = { // [ h18_numv * 3 ] = {
+  -0.102809,0.184137,0.110997, 0.129284,0.393063,-0.471756, 0.129284,0.325763,0.151471, 0.124364,0.395398,-0.471756, -0.058424,-0.228234,-0.106332, 0.057106,-0.420144,0.161620, -0.248110,-0.009363,-0.100794, -0.231701,-0.091141,0.189666, 0.129284,-0.228234,-0.152159, 0.129284,-0.433667,0.164866, 0.129284,-0.166980,0.404939, -0.141510,-0.219557,0.299761, 0.129284,0.397646,-0.471756, -0.215427,-0.032631,-0.168619, 0.102902,0.388713,-0.463077, 0.129284,0.404181,-0.453605, -0.178579,0.184137,-0.258974, -0.157844,0.203085,-0.303931, 
+};
+public static final int[] h18_faces = { // [] = {
+  7, 8,4,13,17,14,3,1,
+  3, 3,12,1,
+  7, 12,15,2,10,9,8,1,
+  6, 15,14,17,16,0,2,
+  5, 0,7,11,10,2,
+  4, 14,15,12,3,
+  6, 5,11,7,6,13,4,
+  4, 8,9,5,4,
+  4, 9,10,11,5,
+  4, 16,17,13,6,
+  4, 7,0,16,6,
+};
+public static final double[] h18_planes = { // [ h18_numf * 4 ] = {
+  -0.212159,-0.447018,-0.869002,0.206822,0,-0,-1,0.471756,1,0,-0,0.129284,-0.53156,0.839996,0.108863,0.221407,-0.398278,0.419585,0.815673,0.208745,-0.395039,0.86436,-0.311169,0.439434,-0.750032,-0.646492,-0.139642,0.206219,-0.131611,-0.831909,-0.539078,0.25488,-0.156805,-0.660773,0.734024,0.387299,-0.903842,-0.0244154,-0.42717,0.267537,-0.870583,0.45858,0.178295,0.193736
+};
+// h19
+public static final int h19_numv = 16;
+public static final int h19_numf = 10;
+public static final double h19_volu = 0.057269;
+public static final double[] h19_pos = { 0.808301,-0.134672,-0.879100 };
+public static final double[] h19_verts = { // [ h19_numv * 3 ] = {
+  0.052980,-0.361791,-0.120900, 0.191699,-0.339845,-0.120900, -0.030366,0.427910,-0.120900, 0.191699,0.488552,-0.120900, -0.118754,0.321131,-0.120900, 0.191699,-0.132745,0.198697, 0.186779,0.490887,-0.120900, 0.003992,-0.132745,0.244524, -0.153012,0.062857,0.182237, -0.153685,-0.263706,0.080920, -0.278719,-0.134396,-0.120900, -0.266112,-0.173663,0.020877, -0.090651,0.366600,-0.055721, -0.095429,0.298574,0.046924, -0.012422,0.433588,-0.120900, 0.165316,0.484202,-0.112221, 
+};
+public static final int[] h19_faces = { // [] = {
+  5, 5,7,9,0,1,
+  8, 0,10,4,2,14,6,3,1,
+  3, 3,5,1,
+  5, 12,13,15,14,2,
+  3, 4,12,2,
+  7, 6,15,13,8,7,5,3,
+  6, 10,11,8,13,12,4,
+  3, 14,15,6,
+  4, 8,11,9,7,
+  4, 11,10,0,9,
+};
+public static final double[] h19_planes = { // [ h19_numf * 4 ] = {
+  0.131611,-0.831909,0.539079,0.242775,-4.33777e-17,-9.13967e-17,-1,0.1209,1,0,0,0.191699,-0.256638,0.811103,0.525594,0.291328,-0.765488,0.633631,-0.11198,0.307921,0.212159,0.447018,0.869002,0.153999,-0.929286,0.326334,0.173016,0.194234,-0.275992,0.959497,0.0565231,0.412621,-0.598205,-0.236327,0.765702,0.216216,-0.55667,-0.812007,-0.175394,0.28549
+};
+// h20
+public static final int h20_numv = 30;
+public static final int h20_numf = 17;
+public static final double h20_volu = 0.107509;
+public static final double[] h20_pos = { 0.402458,0.140897,-0.404353 };
+public static final double[] h20_verts = { // [ h20_numv * 3 ] = {
+  -0.100408,0.282050,-0.142576, 0.065914,0.236686,0.319509, -0.125820,0.203801,0.337118, 0.365449,0.004057,-0.012894, 0.056400,0.231781,0.327959, 0.034434,0.172826,-0.326950, -0.072786,0.183730,-0.272727, -0.247229,0.030507,0.295489, 0.136546,-0.281738,0.161639, 0.289679,0.004057,-0.382865, 0.141197,0.096819,-0.392113, -0.100966,-0.328728,-0.002677, -0.140953,-0.296194,0.011269, -0.180740,0.050981,-0.242777, -0.253566,0.024492,0.286206, -0.033492,0.282050,0.184162, 0.236557,-0.271221,0.065774, 0.154159,-0.311832,0.139278, -0.301735,-0.070997,-0.114805, -0.213824,-0.199847,-0.058625, -0.310451,0.100424,0.233258, -0.241567,0.131963,0.326249, -0.062874,0.247232,-0.227963, -0.327109,0.098788,0.164544, -0.279322,-0.013228,-0.162635, -0.343405,0.077327,0.053051, -0.313038,0.127071,0.015013, -0.327307,0.104436,0.014259, -0.100027,-0.325051,-0.014425, 0.220147,-0.189444,-0.224685, 
+};
+public static final int[] h20_faces = { // [] = {
+  8, 3,9,10,5,22,0,15,1,
+  4, 15,2,4,1,
+  6, 4,8,17,16,3,1,
+  7, 15,0,26,23,20,21,2,
+  5, 21,7,8,4,2,
+  4, 16,29,9,3,
+  3, 6,22,5,
+  4, 10,13,6,5,
+  7, 13,24,27,26,0,22,6,
+  6, 14,12,11,17,8,7,
+  4, 21,20,14,7,
+  8, 29,28,19,18,24,13,10,9,
+  5, 28,29,16,17,11,
+  4, 12,19,28,11,
+  7, 14,20,23,25,18,19,12,
+  4, 25,27,24,18,
+  4, 26,27,25,23,
+};
+public static final double[] h20_planes = { // [ h20_numf * 4 ] = {
+  0.531561,0.839995,-0.108864,0.199069,-0.120149,0.911351,0.393704,0.333576,0.693474,-0.121763,0.710118,0.243778,-0.53156,0.839996,0.108863,0.274773,0.0929092,-0.293639,0.951391,0.249197,0.870583,-0.45858,-0.178295,0.318592,-0.320422,0.578682,-0.749971,0.334181,-0.433652,0.152283,-0.888119,0.301757,-0.720506,0.471135,-0.508826,0.277775,-0.322183,-0.678839,0.659831,0.253916,-0.770892,-0.145024,0.620237,0.369436,-0.289106,-0.541464,-0.789452,0.21631,0.215549,-0.936705,-0.275902,0.286897,-0.662611,-0.698059,-0.271405,0.297099,-0.847832,-0.483811,0.217045,0.265252,-0.941719,0.0992098,-0.32144,0.314009,-0.846082,0.532633,0.0211314,0.332856
+};
+// h21
+public static final int h21_numv = 20;
+public static final int h21_numf = 12;
+public static final double h21_volu = 0.107886;
+public static final double[] h21_pos = { -0.701261,0.516623,-0.734170 };
+public static final double[] h21_verts = { // [ h21_numv * 3 ] = {
+  0.220060,-0.162111,0.233880, -0.071194,0.139979,-0.265830, 0.326350,0.086982,0.076961, 0.175723,-0.320696,-0.265830, -0.194481,0.286846,0.262411, 0.236048,-0.209990,-0.265830, -0.298739,0.200252,0.166960, 0.264887,-0.091760,0.238083, 0.347459,0.035887,0.053770, -0.298739,0.031984,-0.265830, -0.298739,-0.199980,-0.038920, -0.298739,-0.170573,-0.265830, -0.064116,-0.283496,0.032682, 0.172005,-0.323520,-0.234964, 0.067327,0.317485,0.021628, 0.227351,-0.161534,0.231210, 0.015724,0.286846,0.365050, -0.065674,0.367082,0.311546, 0.153155,0.171345,0.362933, 0.139764,0.180879,0.371107, 
+};
+public static final int[] h21_faces = { // [] = {
+  6, 9,6,4,17,14,1,
+  5, 14,2,8,5,1,
+  5, 5,3,11,9,1,
+  4, 18,7,8,2,
+  6, 14,17,16,19,18,2,
+  6, 5,8,7,15,13,3,
+  5, 13,12,10,11,3,
+  3, 16,17,4,
+  7, 6,10,12,0,19,16,4,
+  4, 9,11,10,6,
+  5, 18,19,0,15,7,
+  4, 13,15,0,12,
+};
+public static final double[] h21_planes = { // [ h21_numf * 4 ] = {
+  -0.404539,0.852363,-0.331398,0.236209,0.595564,0.522855,-0.609857,0.192906,-1.16998e-16,-0,-1,0.26583,0.864691,0.138024,0.482969,0.331367,0.636259,0.754085,0.162882,0.285771,0.876412,-0.477567,0.0618929,0.290707,-0.299389,-0.946218,-0.12263,0.283437,-0.433652,0.152285,0.888119,0.361071,-0.398278,-0.419584,0.815674,0.171144,-1,0,0,0.298739,0.349687,-0.276295,0.895198,0.331112,0.184883,-0.934913,0.302912,0.26309
+};
+// h22
+public static final int h22_numv = 14;
+public static final int h22_numf = 9;
+public static final double h22_volu = 0.065276;
+public static final double[] h22_pos = { -0.383570,0.726249,-0.891974 };
+public static final double[] h22_verts = { // [ h22_numv * 3 ] = {
+  0.403835,0.273751,-0.108026, -0.250365,0.107859,0.179431, -0.224444,0.273751,-0.108026, 0.311631,-0.076337,-0.108026, -0.388885,-0.069647,-0.108026, 0.349740,0.107545,0.033083, 0.400677,0.273751,-0.064850, -0.189576,0.273751,0.079255, 0.008658,-0.122644,0.234765, -0.081643,-0.419616,-0.108026, 0.029768,-0.173739,0.211573, 0.125191,-0.098941,0.194122, 0.140375,-0.342343,-0.108026, 0.081722,-0.168359,0.191970, 
+};
+public static final int[] h22_faces = { // [] = {
+  6, 8,11,5,6,7,1,
+  4, 7,2,4,1,
+  5, 4,9,10,8,1,
+  4, 7,6,0,2,
+  6, 0,3,12,9,4,2,
+  5, 5,11,13,12,3,
+  4, 0,6,5,3,
+  4, 10,13,11,8,
+  4, 12,13,10,9,
+};
+public static final double[] h22_planes = { // [ h22_numf * 4 ] = {
+  0.212159,0.447018,0.869002,0.151024,-0.889469,0.425934,0.165603,0.298347,-0.595564,-0.522855,0.609857,0.202141,0,1,0,0.273751,0,0,-1,0.108026,0.758508,-0.488331,0.431507,0.227038,0.964613,-0.254054,0.0705546,0.312375,0.364346,-0.255892,0.895417,0.244751,0.28037,-0.805551,0.521997,0.258742
+};
+// h23
+public static final int h23_numv = 16;
+public static final int h23_numf = 10;
+public static final double h23_volu = 0.051599;
+public static final double[] h23_pos = { -0.800668,0.450995,-0.472891 };
+public static final double[] h23_verts = { // [ h23_numv * 3 ] = {
+  0.035291,-0.217869,-0.228598, -0.199332,-0.134353,-0.300199, -0.199332,0.265879,-0.094319, -0.095074,0.352473,0.001132, -0.199332,-0.001690,0.132407, -0.199332,-0.208186,-0.186260, 0.189555,0.299490,0.167366, -0.199332,0.309177,-0.027504, -0.064385,-0.049725,0.223009, -0.036116,-0.285650,-0.106564, 0.116475,0.143410,0.211970, 0.319467,-0.096483,-0.027399, 0.092916,-0.255030,0.098198, 0.194883,-0.191512,0.077971, 0.239171,0.246507,0.109828, 0.115131,0.352473,0.103771, 
+};
+public static final int[] h23_faces = { // [] = {
+  4, 0,9,5,1,
+  5, 5,4,7,2,1,
+  7, 2,3,15,14,11,0,1,
+  3, 7,3,2,
+  7, 7,4,8,10,6,15,3,
+  5, 5,9,12,8,4,
+  3, 14,15,6,
+  5, 10,13,11,14,6,
+  4, 12,13,10,8,
+  5, 0,11,13,12,9,
+};
+public static final double[] h23_planes = { // [ h23_numf * 4 ] = {
+  -0.131611,-0.83191,-0.539077,0.299835,-1,6.69634e-17,-4.33923e-17,0.199332,0.398278,0.419584,-0.815674,0.109103,-0.195313,0.823048,-0.533334,0.308068,-0.398278,0.419585,0.815673,0.186681,-0.553062,-0.69918,0.453068,0.171414,0.647541,0.750402,-0.132616,0.325287,0.693474,-0.121763,0.710118,0.213834,0.349687,-0.276295,0.895198,0.190861,0.493234,-0.850287,-0.183662,0.244643
+};
+// h24
+public static final int h24_numv = 12;
+public static final int h24_numf = 8;
+public static final double h24_volu = 0.050770;
+public static final double[] h24_pos = { -0.845297,0.862613,-0.757515 };
+public static final double[] h24_verts = { // [ h24_numv * 3 ] = {
+  0.078361,0.021092,0.334891, -0.154703,-0.145738,0.190305, -0.154703,0.137387,-0.242485, -0.154703,-0.314006,-0.242485, 0.072842,-0.206011,-0.242485, 0.237283,0.137387,-0.242485, -0.154703,-0.102441,0.257120, -0.050445,-0.059144,0.285756, 0.211362,-0.028505,0.044972, -0.154703,0.137387,0.380489, 0.272151,0.137387,-0.055204, 0.060041,0.137387,0.393596, 
+};
+public static final int[] h24_faces = { // [] = {
+  3, 7,6,1,
+  5, 6,9,2,3,1,
+  6, 3,4,8,0,7,1,
+  4, 5,4,3,2,
+  5, 9,11,10,5,2,
+  4, 5,10,8,4,
+  5, 7,0,11,9,6,
+  4, 10,11,0,8,
+};
+public static final double[] h24_planes = { // [ h24_numf * 4 ] = {
+  0.195313,-0.823048,0.533334,0.19123,-1,0,0,0.154703,0.404539,-0.852363,0.331398,0.124705,0,0,-1,0.242485,0,1,-0,0.137387,0.889469,-0.425934,-0.165603,0.192694,-0.0541955,-0.456759,0.887938,0.283483,0.901694,-0.0730722,0.426155,0.211832
+};
+// h25
+public static final int h25_numv = 16;
+public static final int h25_numf = 10;
+public static final double h25_volu = 0.064196;
+public static final double[] h25_pos = { 0.265380,0.609017,-0.859766 };
+public static final double[] h25_verts = { // [ h25_numv * 3 ] = {
+  0.171512,-0.295294,0.128463, -0.112864,0.390983,-0.140234, -0.179972,0.258217,0.163631, -0.171482,0.390983,0.031499, -0.146465,0.312621,0.159756, 0.063572,-0.117444,0.267684, -0.245115,0.390983,-0.140234, -0.337319,0.040895,-0.140234, 0.499394,-0.306418,-0.140234, 0.112578,-0.021086,0.259138, 0.074204,-0.220888,0.227450, 0.064293,-0.284390,0.182686, -0.258312,-0.146590,-0.140234, 0.497529,-0.308188,-0.130217, -0.299210,0.224777,0.000875, -0.248273,0.390983,-0.097058, 
+};
+public static final int[] h25_faces = { // [] = {
+  6, 3,4,9,13,8,1,
+  5, 8,12,7,6,1,
+  4, 6,15,3,1,
+  7, 14,7,12,11,10,5,2,
+  4, 5,9,4,2,
+  5, 4,3,15,14,2,
+  5, 10,0,13,9,5,
+  4, 7,14,15,6,
+  5, 13,0,11,12,8,
+  3, 11,0,10,
+};
+public static final double[] h25_planes = { // [ h25_numf * 4 ] = {
+  0.727925,0.639055,0.248465,0.13286,0,-0,-1,0.140234,0,1,0,0.390983,-0.735479,-0.309932,0.602505,0.150925,-0.158394,0.166867,0.973173,0.230836,-0.747363,0.49209,0.446425,0.33462,0.598205,-0.236329,0.765702,0.270751,-0.964613,0.254054,-0.0705546,0.345666,-0.201934,-0.957321,-0.206781,0.221494,0.320422,-0.578682,0.749971,0.322182
+};
+// h26
+public static final int h26_numv = 24;
+public static final int h26_numf = 14;
+public static final double h26_volu = 0.101687;
+public static final double[] h26_pos = { -0.341007,0.877992,-0.537072 };
+public static final double[] h26_verts = { // [ h26_numv * 3 ] = {
+  0.358114,0.122008,-0.419752, -0.168425,-0.052359,0.397165, -0.220490,-0.180490,0.174009, 0.459922,0.043646,-0.162938, 0.324251,-0.109249,-0.070985, -0.202046,0.011183,0.424477, 0.252084,0.007514,0.202105, -0.286958,0.122008,0.388199, 0.307177,-0.044198,-0.321819, 0.426415,-0.010758,-0.159063, 0.082627,-0.250684,-0.160780, -0.033904,-0.274387,-0.120138, -0.232139,0.122008,-0.275647, -0.292928,-0.043884,-0.175471, -0.344531,-0.074523,0.167952, -0.207099,-0.190024,0.165835, -0.444249,0.122008,0.173153, -0.425929,0.005713,0.114448, 0.327136,0.122008,0.185091, -0.202046,0.122008,0.443480, 0.434905,0.122008,-0.291195, 0.483509,0.122008,-0.120325, -0.187210,-0.038985,0.408631, -0.270106,-0.127507,0.231547, 
+};
+public static final int[] h26_faces = { // [] = {
+  5, 22,23,2,15,1,
+  6, 15,11,10,4,6,1,
+  6, 6,18,19,5,22,1,
+  3, 23,14,2,
+  6, 14,17,13,11,15,2,
+  3, 20,21,3,
+  6, 21,18,6,4,9,3,
+  5, 9,8,0,20,3,
+  4, 10,8,9,4,
+  3, 19,7,5,
+  7, 7,16,17,14,23,22,5,
+  8, 19,18,21,20,0,12,16,7,
+  6, 10,11,13,12,0,8,
+  4, 13,17,16,12,
+};
+public static final double[] h26_planes = { // [ h26_numf * 4 ] = {
+  -0.256638,-0.811103,0.525594,0.29444,0.324513,-0.835692,0.443069,0.165071,0.433652,-0.152285,0.888119,0.287665,-0.647541,-0.750402,0.132616,0.301294,-0.636259,-0.754085,-0.162882,0.248051,0.95246,-0.139363,-0.270922,0.476118,0.791095,-0.458379,0.40504,0.277839,0.747363,-0.49209,-0.446425,0.39499,0.555832,-0.7947,-0.243931,0.284365,-0.540055,-0.142236,0.829524,0.459639,-0.742791,-0.391264,0.543299,0.37632,0,1,0,0.122008,-0.212159,-0.447018,-0.869002,0.234249,-0.901694,0.0730722,-0.426155,0.335702
+};
+// h27
+public static final int h27_numv = 24;
+public static final int h27_numf = 14;
+public static final double h27_volu = 0.100588;
+public static final double[] h27_pos = { 0.167088,0.649940,-0.364014 };
+public static final double[] h27_verts = { // [ h27_numv * 3 ] = {
+  -0.183844,0.118803,-0.244043, -0.044353,-0.266136,0.405236, -0.256011,0.235567,0.029047, 0.161864,-0.158366,-0.228068, 0.300539,0.065664,-0.127155, -0.024586,0.350060,-0.293383, -0.048173,0.271698,-0.335996, -0.180959,0.350060,0.012033, -0.081680,0.217294,-0.332121, -0.044357,0.350060,0.088262, -0.006196,-0.377080,0.285910, 0.201878,-0.226993,0.143823, -0.003872,-0.277036,0.420726, 0.210870,-0.062009,-0.236614, -0.003871,0.350060,0.098146, 0.183618,0.350060,-0.130723, -0.165155,-0.254165,0.331667, -0.075081,-0.408619,0.192919, -0.091738,-0.410255,0.124205, 0.005721,-0.287236,0.414262, -0.077668,-0.381972,-0.025325, -0.102748,-0.401170,0.182332, 0.134962,-0.226993,-0.182915, 0.109551,-0.305242,0.296779, 
+};
+public static final int[] h27_faces = { // [] = {
+  7, 16,21,17,10,19,12,1,
+  4, 12,14,9,1,
+  5, 9,7,2,16,1,
+  6, 7,5,6,8,0,2,
+  6, 0,20,18,21,16,2,
+  5, 13,4,11,22,3,
+  5, 22,20,0,8,3,
+  4, 8,6,13,3,
+  5, 13,6,5,15,4,
+  7, 15,14,12,19,23,11,4,
+  5, 7,9,14,15,5,
+  7, 17,18,20,22,11,23,10,
+  3, 23,19,10,
+  3, 21,18,17,
+};
+public static final double[] h27_planes = { // [ h27_numf * 4 ] = {
+  -0.40667,-0.730271,0.54893,0.434835,-0.212159,0.447018,0.869002,0.242593,-0.444511,0.409753,0.796563,0.233461,-0.791095,0.458379,-0.40504,0.298742,-0.954535,-0.263372,-0.139635,0.178273,0.870583,-0.45858,-0.178295,0.254203,-0.309646,-0.434949,-0.84554,0.211601,0.158394,-0.166867,-0.973173,0.274014,0.598205,0.236328,-0.765702,0.292665,0.73548,0.309929,0.602505,0.16478,1.09327e-15,1,1.13815e-15,0.35006,0.53156,-0.839996,-0.108863,0.282326,0.425203,-0.759567,0.4922,0.424508,-0.292039,-0.95183,0.0934524,0.428891
+};
+// h28
+public static final int h28_numv = 18;
+public static final int h28_numf = 11;
+public static final double h28_volu = 0.075441;
+public static final double[] h28_pos = { 0.013616,0.472900,-0.719797 };
+public static final double[] h28_verts = { // [ h28_numv * 3 ] = {
+  -0.187022,-0.167506,-0.280203, 0.109520,-0.345231,0.152809, -0.085555,0.177012,-0.280203, -0.271995,0.154408,0.021945, -0.030372,0.295843,0.111740, 0.061535,-0.227567,0.329703, 0.075804,-0.204932,0.330457, 0.071792,0.394334,0.023662, 0.208102,-0.281022,0.072668, -0.047446,0.360894,-0.139094, 0.077205,-0.350161,0.038133, -0.006548,-0.010473,-0.280203, 0.288434,-0.049953,0.172868, 0.315336,0.018674,0.127715, 0.316057,-0.148273,0.042717, 0.325968,-0.084770,0.087482, -0.256811,-0.088994,-0.280203, -0.315464,0.084990,0.019794, 
+};
+public static final int[] h28_faces = { // [] = {
+  7, 8,14,15,12,6,5,1,
+  6, 5,17,16,0,10,1,
+  3, 10,8,1,
+  5, 16,17,3,9,2,
+  7, 9,7,13,15,14,11,2,
+  4, 11,0,16,2,
+  5, 17,5,6,4,3,
+  4, 4,7,9,3,
+  5, 6,12,13,7,4,
+  5, 10,0,11,14,8,
+  3, 15,13,12,
+};
+public static final double[] h28_planes = { // [ h28_numf * 4 ] = {
+  0.720506,-0.471135,0.508826,0.319313,-0.726908,-0.64614,0.232611,0.179002,0.485104,-0.868795,-0.0993492,0.337882,-0.758508,0.488331,-0.431507,0.272244,0.735479,0.309932,-0.602505,0.160762,0,0,-1,0.280203,-0.469484,0.267909,0.841315,0.187527,-0.555832,0.7947,0.243931,0.279245,0.309646,0.434949,0.84554,0.213753,0.469359,-0.539421,-0.69909,0.198463,0.901694,-0.0730722,0.426155,0.337399
+};
+// h29
+public static final int h29_numv = 20;
+public static final int h29_numf = 12;
+public static final double h29_volu = 0.090754;
+public static final double[] h29_pos = { -0.195482,0.549508,-0.348926 };
+public static final double[] h29_verts = { // [ h29_numv * 3 ] = {
+  -0.062897,0.077801,-0.348926, 0.254536,-0.331284,-0.002375, -0.179429,0.054098,-0.308283, 0.178726,0.219235,-0.259131, -0.352624,0.138460,-0.022310, 0.259822,-0.300738,0.167244, 0.197415,-0.153733,0.316579, 0.065987,-0.327570,0.133724, 0.114982,-0.134660,0.333685, 0.270633,-0.304175,-0.041168, -0.106366,0.008382,-0.351078, 0.106560,0.335999,0.013959, -0.240892,-0.124645,-0.147161, -0.313950,0.276125,0.209019, -0.158320,0.003002,-0.331475, 0.036774,-0.342768,0.065557, 0.284902,-0.281540,-0.040413, 0.270832,-0.309823,0.109117, 0.013405,-0.084041,0.336165, 0.046528,-0.137097,0.329090, 
+};
+public static final int[] h29_faces = { // [] = {
+  4, 9,16,17,1,
+  5, 17,5,7,15,1,
+  6, 15,12,14,10,9,1,
+  4, 0,10,14,2,
+  4, 14,12,4,2,
+  6, 4,13,11,3,0,2,
+  5, 16,9,10,0,3,
+  6, 11,6,5,17,16,3,
+  7, 12,15,7,19,18,13,4,
+  5, 6,8,19,7,5,
+  5, 11,13,18,8,6,
+  3, 18,19,8,
+};
+public static final double[] h29_planes = { // [ h29_numf * 4 ] = {
+  0.846082,-0.532633,-0.0211314,0.391862,0.105626,-0.979232,0.173057,0.350878,-0.148211,-0.780702,-0.607074,0.22235,-0.364346,0.255892,-0.895417,0.355259,-0.864691,-0.138024,-0.482969,0.296575,-0.324513,0.835692,-0.443069,0.240027,0.469484,-0.267909,-0.841315,0.243184,0.954535,0.263372,0.139635,0.192157,-0.73808,-0.518378,0.431882,0.178854,-0.0212658,-0.716912,0.696839,0.326619,0.289106,0.541462,0.789453,0.223758,-0.0600487,-0.168696,0.983837,0.344105
+};
+// h30
+public static final int h30_numv = 26;
+public static final int h30_numf = 15;
+public static final double h30_volu = 0.141813;
+public static final double[] h30_pos = { 0.709749,0.432546,-0.520590 };
+public static final double[] h30_verts = { // [ h30_numv * 3 ] = {
+  0.086130,-0.133630,-0.479410, 0.290251,-0.067548,-0.461259, 0.290251,0.254276,-0.130163, -0.166094,-0.194830,-0.275875, -0.114073,0.017151,0.452790, 0.263868,-0.083016,-0.470730, -0.015645,0.141724,0.383369, -0.170984,0.316821,0.046789, -0.242122,0.283058,0.029421, 0.290251,0.110614,0.239339, -0.340783,-0.009598,0.300399, 0.290251,-0.018830,0.261535, 0.067740,-0.137994,-0.479410, -0.241377,-0.054963,0.435747, 0.058158,-0.287592,0.103343, 0.290251,-0.145966,0.143817, 0.068185,-0.139308,-0.479410, -0.017612,-0.287592,-0.266628, 0.053160,-0.131717,-0.469392, -0.272857,-0.118823,-0.210712, 0.007901,-0.200618,-0.414231, 0.003123,-0.268644,-0.311584, -0.331791,0.155385,-0.080037, -0.407699,-0.009598,-0.026339, -0.380797,0.059028,-0.071491, -0.370165,-0.044416,-0.111725, 
+};
+public static final int[] h30_faces = { // [] = {
+  6, 15,14,17,21,5,1,
+  9, 5,0,12,18,22,8,7,2,1,
+  5, 2,9,11,15,1,
+  4, 7,6,9,2,
+  4, 20,21,17,3,
+  8, 17,14,13,10,23,25,19,3,
+  6, 19,18,12,16,20,3,
+  5, 13,14,15,11,4,
+  4, 11,9,6,4,
+  6, 6,7,8,10,13,4,
+  5, 21,20,16,0,5,
+  5, 22,24,23,10,8,
+  3, 0,16,12,
+  5, 19,25,24,22,18,
+  3, 24,25,23,
+};
+public static final double[] h30_planes = { // [ h30_numf * 4 ] = {
+  0.53156,-0.839996,-0.108863,0.26124,-0.167754,0.706913,-0.687119,0.220498,1,-0,0,0.290251,0.256529,0.900844,0.350247,0.257932,-0.43192,-0.742413,-0.512121,0.357665,-0.531561,-0.839995,0.108864,0.221912,-0.613049,-0.207593,-0.762283,0.352564,0.275531,-0.653109,0.705359,0.276747,0.433652,0.152285,0.888119,0.355275,-0.46199,0.681388,0.567693,0.321433,0.256638,-0.811103,-0.525594,0.382466,-0.870583,0.45858,0.178295,0.345838,-0,0,-1,0.479409,-0.598205,0.236329,-0.765702,0.296486,-0.901694,0.0730722,-0.426155,0.378142
+};
+// h31
+public static final int h31_numv = 20;
+public static final int h31_numf = 12;
+public static final double h31_volu = 0.145607;
+public static final double[] h31_pos = { 0.628702,0.773411,-0.793457 };
+public static final double[] h31_verts = { // [ h31_numv * 3 ] = {
+  -0.189575,0.226589,0.317223, 0.371298,-0.414948,-0.206543, -0.476185,0.226589,-0.206543, 0.371298,0.226589,-0.206543, -0.250744,-0.185480,0.192828, 0.148787,-0.478859,-0.206543, -0.509787,0.148227,0.093447, -0.534804,0.226589,-0.034811, -0.277996,0.226589,0.298719, -0.486200,0.226589,0.136059, 0.371298,-0.408413,-0.188392, 0.167177,-0.474495,-0.206543, 0.366378,-0.417196,-0.206543, 0.344915,-0.423881,-0.197864, 0.371298,-0.086589,0.142703, 0.371298,0.226589,0.089002, -0.161075,-0.057807,0.302287, -0.089936,-0.024044,0.319655, 0.134207,-0.472582,-0.196526, 0.136072,-0.470812,-0.206543, 
+};
+public static final int[] h31_faces = { // [] = {
+  4, 10,13,12,1,
+  7, 12,11,5,19,2,3,1,
+  5, 3,15,14,10,1,
+  6, 19,18,4,6,7,2,
+  7, 7,9,8,0,15,3,2,
+  5, 16,8,9,6,4,
+  9, 18,5,11,13,10,14,17,16,4,
+  3, 18,19,5,
+  3, 9,7,6,
+  4, 16,17,0,8,
+  3, 12,13,11,
+  4, 15,0,17,14,
+};
+public static final double[] h31_planes = { // [ h31_numf * 4 ] = {
+  0.395039,-0.86436,0.311169,0.441071,-0,-0,-1,0.206543,1,-0,0,0.371298,-0.727925,-0.639055,-0.248465,0.253143,4.94863e-17,1,-0,0.226589,-0.598205,-0.236328,0.765702,0.341479,0.167754,-0.706913,0.687119,0.221551,-0.518906,-0.82,-0.241527,0.365343,-0.95246,0.139363,0.270922,0.531526,-0.204299,-0.0717432,0.976276,0.332171,0.275992,-0.959497,-0.0565231,0.51309,0.372229,0.156858,0.91479,0.255169
+};
+// h32
+public static final int h32_numv = 22;
+public static final int h32_numf = 13;
+public static final double h32_volu = 0.092552;
+public static final double[] h32_pos = { -0.648077,-0.694629,-0.055690 };
+public static final double[] h32_verts = { // [ h32_numv * 3 ] = {
+  -0.351923,0.020682,-0.162313, -0.351923,0.291038,-0.298522, 0.116588,0.074450,0.304425, 0.180292,0.145010,-0.063690, -0.351923,0.286862,-0.299238, 0.082653,-0.305371,0.200452, 0.444715,-0.214767,0.086986, 0.440565,-0.305371,0.060643, 0.437298,-0.305371,0.003205, 0.441236,-0.180086,0.007980, 0.202670,-0.305371,-0.129990, -0.122926,-0.305371,-0.050498, -0.351923,0.343433,0.003710, 0.034975,0.067995,0.334312, -0.249787,0.361137,-0.236631, 0.059834,0.222599,0.089656, 0.420946,-0.305371,-0.023410, 0.437088,-0.283432,-0.011766, -0.351923,0.387353,-0.064067, -0.294272,0.397125,-0.093222, -0.351923,0.309463,-0.280428, -0.321961,0.320573,-0.278827, 
+};
+public static final int[] h32_faces = { // [] = {
+  3, 20,21,1,
+  9, 21,14,3,9,17,16,10,4,1,
+  6, 4,0,12,18,20,1,
+  5, 13,5,7,6,2,
+  5, 6,9,3,15,2,
+  6, 15,19,18,12,13,2,
+  4, 14,19,15,3,
+  4, 10,11,0,4,
+  5, 13,12,0,11,5,
+  6, 11,10,16,8,7,5,
+  5, 7,8,17,9,6,
+  3, 16,17,8,
+  5, 21,20,18,19,14,
+};
+public static final double[] h32_planes = { // [ h32_numf * 4 ] = {
+  -0.216442,0.684063,-0.696571,0.483201,0.433652,0.152285,-0.888119,0.156831,-1,0,0,0.351923,0.349687,-0.276295,0.895198,0.29272,0.727924,0.639056,0.248465,0.208084,0.131611,0.83191,0.539077,0.241389,0.471464,0.878752,-0.0742736,0.21716,-0.212159,-0.447018,-0.869002,0.206469,-0.73548,-0.309929,0.602505,0.154628,-3.74119e-15,-1,2.12832e-16,0.305371,0.99796,-0.0292037,-0.0567728,0.445142,0.80443,-0.32957,-0.494242,0.450833,-0.314046,0.893286,-0.321583,0.47714
+};
+// h33
+public static final int h33_numv = 18;
+public static final int h33_numf = 11;
+public static final double h33_volu = 0.056945;
+public static final double[] h33_pos = { -0.288352,-0.547292,0.050646 };
+public static final double[] h33_verts = { // [ h33_numv * 3 ] = {
+  0.084990,-0.362104,-0.019350, -0.079434,0.021164,0.334816, 0.019488,-0.072734,0.262363, 0.115516,0.076855,-0.268585, 0.213070,0.021874,-0.243280, 0.274323,0.089944,-0.132397, 0.019789,0.332949,0.053313, 0.257211,0.025988,-0.078610, 0.131191,0.288888,-0.060012, 0.118204,-0.320377,0.031687, 0.081511,-0.327423,-0.098356, -0.243137,-0.072887,0.198089, -0.179433,-0.002327,-0.170026, -0.299891,0.075262,-0.016680, -0.055817,0.322184,0.088384, -0.038680,0.277450,0.153234, 0.148159,-0.119839,-0.229545, 0.048588,0.033746,-0.272086, 
+};
+public static final int[] h33_faces = { // [] = {
+  5, 11,0,9,2,1,
+  7, 2,7,5,8,6,15,1,
+  5, 15,14,13,11,1,
+  3, 9,7,2,
+  4, 4,16,17,3,
+  7, 17,12,13,14,6,8,3,
+  4, 8,5,4,3,
+  7, 5,7,9,0,10,16,4,
+  3, 14,15,6,
+  5, 0,11,13,12,10,
+  4, 12,17,16,10,
+};
+public static final double[] h33_planes = { // [ h33_numf * 4 ] = {
+  -0.167754,-0.706913,0.687119,0.228423,0.73548,0.309929,0.602505,0.149866,-0.708232,0.479648,0.518021,0.239851,0.830851,-0.164118,0.531744,0.167639,0.158394,-0.166869,-0.973173,0.266852,-0.391463,0.659847,-0.641373,0.177755,0.49733,0.589428,-0.636583,0.273727,0.877503,-0.423705,-0.224641,0.232352,0.131611,0.83191,0.539077,0.308327,-0.727924,-0.639056,-0.248465,0.174346,-0.309646,-0.434949,-0.84554,0.200337
+};
+// h34
+public static final int h34_numv = 24;
+public static final int h34_numf = 14;
+public static final double h34_volu = 0.086482;
+public static final double[] h34_pos = { -0.499709,-0.643458,-0.327986 };
+public static final double[] h34_verts = { // [ h34_numv * 3 ] = {
+  -0.500291,0.235691,-0.026942, -0.413349,0.203755,-0.157062, -0.223651,0.321490,-0.139249, 0.209880,-0.356542,0.003973, 0.365162,-0.137565,0.097393, 0.292868,-0.231257,0.280276, 0.359516,-0.023673,0.149087, -0.329463,0.339839,-0.019523, -0.041433,0.349469,-0.148408, 0.054302,-0.356542,0.142306, 0.272578,-0.356542,0.248886, 0.288720,-0.334603,0.260530, 0.023896,-0.069111,-0.283979, 0.274970,-0.222320,-0.056303, 0.127449,-0.356542,-0.036276, -0.035189,-0.103922,-0.288953, -0.023751,0.360733,-0.121029, -0.500291,0.237083,-0.030523, -0.346425,0.336124,-0.010604, 0.259945,0.129913,0.106546, -0.500291,0.239867,-0.026226, -0.470329,0.269402,-0.006532, -0.398155,0.309966,0.035665, 0.031924,0.093839,0.208606, 
+};
+public static final int[] h34_faces = { // [] = {
+  7, 17,20,21,18,7,2,1,
+  5, 2,8,12,15,1,
+  6, 15,14,9,0,17,1,
+  4, 7,16,8,2,
+  5, 14,15,12,13,3,
+  5, 13,4,11,10,3,
+  4, 10,9,14,3,
+  7, 13,12,8,16,19,6,4,
+  4, 6,5,11,4,
+  4, 6,19,23,5,
+  9, 23,22,21,20,0,9,10,11,5,
+  6, 18,22,23,19,16,7,
+  3, 0,20,17,
+  3, 21,22,18,
+};
+public static final double[] h34_planes = { // [ h34_numf * 4 ] = {
+  -0.425203,0.759567,-0.4922,0.407829,-0.0929092,0.293639,-0.951391,0.247662,-0.66261,-0.69806,-0.271405,0.174284,-0.159459,0.944944,-0.285751,0.379244,0.373525,-0.524676,-0.76498,0.262425,0.837582,-0.502473,-0.214421,0.354093,0,-1,0,0.356542,0.73548,0.309929,-0.602505,0.167254,0.941719,-0.0992098,0.32144,0.388833,0.309646,0.434949,0.84554,0.227085,-0.433652,-0.152285,0.888119,0.157132,0.148211,0.780702,0.607074,0.204631,-1,0,-0,0.500291,-0.474713,0.879502,-0.0335246,0.460429
+};
+// h35
+public static final int h35_numv = 12;
+public static final int h35_numf = 8;
+public static final double h35_volu = 0.072358;
+public static final double[] h35_pos = { -0.852811,-0.781078,0.150064 };
+public static final double[] h35_verts = { // [ h35_numv * 3 ] = {
+  -0.147189,-0.218922,0.332047, 0.103613,-0.074924,0.288589, -0.147189,0.429882,-0.202044, -0.147189,-0.218922,-0.312160, 0.239709,0.154443,0.128558, 0.287386,-0.218922,-0.005301, -0.043492,-0.218922,0.344705, 0.074717,-0.218922,0.306226, -0.147189,0.402063,0.012610, 0.208223,0.167113,0.176854, -0.147189,0.107130,-0.368067, 0.081807,-0.218922,-0.256252, 
+};
+public static final int[] h35_faces = { // [] = {
+  3, 6,7,1,
+  5, 7,5,4,9,1,
+  5, 9,8,0,6,1,
+  4, 8,9,4,2,
+  5, 4,5,11,10,2,
+  5, 10,3,0,8,2,
+  3, 10,11,3,
+  6, 11,5,7,6,0,3,
+};
+public static final double[] h35_planes = { // [ h35_numf * 4 ] = {
+  0.309078,0.0542691,0.949487,0.301971,0.822068,-0.096228,0.561199,0.254343,-0.107916,0.45476,0.884052,0.209874,0.512085,0.851811,0.110395,0.2685,0.73548,0.309929,-0.602505,0.146711,-1,-0,-0,0.147189,0.233951,-0.164312,-0.958263,0.300667,0,-1,0,0.218922
+};
+// h36
+public static final int h36_numv = 18;
+public static final int h36_numf = 11;
+public static final double h36_volu = 0.076715;
+public static final double[] h36_pos = { 0.330903,-0.599381,-0.308448 };
+public static final double[] h36_verts = { // [ h36_numv * 3 ] = {
+  0.235744,-0.093981,0.208985, 0.157036,0.091360,0.296934, -0.213473,-0.059832,-0.258208, 0.131366,0.084254,0.304768, 0.060949,-0.352878,-0.040467, 0.031132,-0.367472,0.023458, -0.038178,0.319175,-0.078462, 0.346140,-0.033881,-0.005840, 0.305466,-0.106272,-0.107625, -0.256020,-0.056138,-0.213238, -0.331115,0.110184,0.014099, -0.356965,0.085987,0.067218, 0.185622,-0.147504,0.212044, 0.241393,0.219660,0.109239, -0.343391,-0.100844,-0.022261, -0.046519,0.081665,-0.290234, -0.272849,0.156195,0.144404, -0.146830,0.270831,-0.017119, 
+};
+public static final int[] h36_faces = { // [] = {
+  6, 13,6,17,16,3,1,
+  4, 3,12,0,1,
+  4, 0,7,13,1,
+  6, 9,10,17,6,15,2,
+  4, 15,8,4,2,
+  5, 4,5,14,9,2,
+  6, 16,11,14,5,12,3,
+  6, 8,7,0,12,5,4,
+  5, 13,7,8,15,6,
+  4, 14,11,10,9,
+  4, 11,16,17,10,
+};
+public static final double[] h36_planes = { // [ h36_numf * 4 ] = {
+  -0.066237,0.837367,0.542613,0.227221,0.349687,-0.276295,0.895198,0.295486,0.864691,0.138024,0.482969,0.291807,-0.582463,0.552262,-0.596442,0.245303,0.212159,-0.447016,-0.869003,0.205839,-0.496382,-0.766976,-0.406636,0.25685,-0.398278,-0.419584,0.815674,0.16092,0.722578,-0.66608,0.18498,0.2716,0.595564,0.522855,-0.609857,0.191995,-0.913105,0.120244,-0.389591,0.310099,-0.654405,0.755705,0.0257735,0.300313
+};
+// h37
+public static final int h37_numv = 18;
+public static final int h37_numf = 11;
+public static final double h37_volu = 0.098217;
+public static final double[] h37_pos = { 0.055330,-0.588368,0.333127 };
+public static final double[] h37_verts = { // [ h37_numv * 3 ] = {
+  -0.107417,0.016721,0.347927, 0.283844,-0.036335,0.197820, 0.129290,0.324988,-0.064466, -0.012100,0.128834,-0.356552, 0.344968,0.171444,-0.038138, -0.270436,0.127441,0.395275, -0.130084,-0.375511,-0.154724, 0.001812,-0.380727,-0.087638, -0.247911,0.142505,0.383526, 0.360906,0.133475,0.137346, 0.062042,-0.352141,-0.072933, 0.261216,0.073240,-0.194499, 0.127844,0.325300,-0.059106, 0.361773,0.137946,0.130076, -0.225478,-0.279302,-0.250794, -0.324194,-0.031659,-0.020118, -0.297963,0.086614,0.328910, -0.086471,0.067064,-0.361091, 
+};
+public static final int[] h37_faces = { // [] = {
+  6, 10,11,4,13,9,1,
+  5, 9,8,5,0,1,
+  4, 0,7,10,1,
+  4, 12,13,4,2,
+  4, 4,11,3,2,
+  8, 3,17,15,16,5,8,12,2,
+  7, 11,10,7,6,14,17,3,
+  5, 16,6,7,0,5,
+  4, 16,15,14,6,
+  4, 9,13,12,8,
+  3, 15,17,14,
+};
+public static final double[] h37_planes = { // [ h37_numf * 4 ] = {
+  0.870583,-0.45858,-0.178295,0.228502,0.372229,0.156856,0.91479,0.280919,0.167754,-0.706913,0.687119,0.209227,0.568104,0.816131,0.105771,0.331865,0.49733,0.589428,-0.636583,0.296895,-0.616962,0.758294,-0.21059,0.180245,0.398278,-0.419585,-0.815673,0.231954,-0.32928,-0.737152,0.590069,0.228345,-0.799798,-0.547681,0.245698,0.271686,0.226312,0.817437,0.529699,0.263537,-0.830851,0.164118,-0.531744,0.274859
+};
+// h38
+public static final int h38_numv = 28;
+public static final int h38_numf = 16;
+public static final double h38_volu = 0.093559;
+public static final double[] h38_pos = { 0.133166,-0.773583,-0.050905 };
+public static final double[] h38_verts = { // [ h38_numv * 3 ] = {
+  -0.076024,-0.195512,0.296394, 0.264846,-0.226417,0.026836, 0.183380,0.258456,0.189533, -0.015793,-0.166926,0.311098, -0.267713,-0.007440,-0.179688, -0.159228,0.260189,-0.190326, -0.343945,-0.226417,-0.001580, -0.273359,0.106452,-0.127994, 0.216958,-0.226417,-0.206989, 0.383359,0.026697,-0.045499, 0.329103,0.258456,0.047225, -0.089936,0.314049,0.027481, -0.145654,0.073358,-0.279804, 0.228869,-0.193270,-0.234086, -0.131382,0.326289,-0.026485, -0.075112,0.330397,-0.113139, -0.208448,0.248166,-0.141729, -0.011151,-0.226417,0.296364, -0.211663,-0.226417,0.216210, -0.072038,-0.226417,0.288931, -0.336528,-0.135813,0.082201, -0.147195,0.316236,-0.030846, -0.340678,-0.226417,0.055858, -0.164307,0.252279,0.022941, -0.344155,-0.204478,-0.016551, -0.340007,-0.101132,0.003195, -0.207920,-0.190296,0.229308, -0.303314,-0.094086,0.133238, 
+};
+public static final int[] h38_faces = { // [] = {
+  4, 8,13,9,1,
+  6, 9,10,2,3,17,1,
+  7, 17,19,18,22,6,8,1,
+  5, 10,15,14,11,2,
+  7, 11,23,27,26,0,3,2,
+  4, 0,19,17,3,
+  4, 24,25,7,4,
+  5, 7,16,5,12,4,
+  6, 12,13,8,6,24,4,
+  5, 16,21,14,15,5,
+  6, 15,10,9,13,12,5,
+  5, 22,20,25,24,6,
+  7, 25,20,27,23,21,16,7,
+  4, 14,21,23,11,
+  5, 26,27,20,22,18,
+  4, 19,0,26,18,
+};
+public static final double[] h38_planes = { // [ h38_numf * 4 ] = {
+  0.870583,-0.45858,-0.178295,0.329616,0.693474,-0.121763,0.710118,0.23029,0,-1,0,0.226417,0.124536,0.983986,0.127525,0.301324,-0.398278,0.419585,0.815673,0.190005,-0.117405,-0.247372,0.961781,0.342356,-0.941719,0.0992098,-0.32144,0.309131,-0.709719,0.26169,-0.654077,0.305583,-0.289106,-0.541464,-0.789452,0.223281,-0.465257,0.845503,-0.262033,0.343944,0.398278,0.419584,-0.815674,0.200998,-0.99796,0.0292037,0.0567728,0.336541,-0.877503,0.423705,0.224641,0.256225,-0.548603,0.619234,0.561769,0.259246,-0.770892,-0.145024,0.620237,0.330106,-0.445543,-0.264025,0.855443,0.33904
+};
+// h39
+public static final int h39_numv = 32;
+public static final int h39_numf = 18;
+public static final double h39_volu = 0.060173;
+public static final double[] h39_pos = { -0.130993,-0.349156,0.297470 };
+public static final double[] h39_verts = { // [ h39_numv * 3 ] = {
+  0.132777,-0.098138,-0.374861, 0.174223,-0.110378,-0.320895, -0.236793,-0.176972,0.087992, 0.120090,0.163784,-0.274197, -0.036262,0.126682,-0.293283, -0.239846,-0.040235,0.342234, -0.196039,0.079314,-0.093590, -0.026168,0.090752,-0.306837, -0.084113,-0.111771,0.430932, -0.132771,0.138527,-0.197817, -0.061588,-0.096707,0.419183, -0.167047,-0.030107,0.457226, 0.314167,0.086089,-0.023449, 0.140527,0.255266,-0.004320, -0.137571,0.134813,-0.193511, 0.315613,0.085777,-0.028809, 0.116964,-0.108191,-0.379221, 0.099852,-0.172148,-0.325434, -0.176687,-0.026318,0.447418, -0.168971,-0.023213,0.453768, -0.137871,-0.270870,0.015539, -0.111640,-0.152598,0.364567, -0.122362,-0.092357,0.456223, -0.127730,-0.079472,0.460978, -0.243030,-0.080780,0.324741, -0.136583,-0.114124,0.420896, -0.241856,-0.054541,0.348612, -0.178625,-0.028253,0.445248, -0.171209,-0.024409,0.453290, -0.169333,-0.024798,0.455225, 0.224076,0.244621,-0.088171, 0.213513,0.251212,-0.061379, 
+};
+public static final int[] h39_faces = { // [] = {
+  5, 0,3,30,15,1,
+  8, 15,12,10,8,21,20,17,1,
+  4, 17,16,0,1,
+  5, 20,21,25,24,2,
+  5, 24,26,5,6,2,
+  7, 6,14,7,16,17,20,2,
+  5, 0,16,7,4,3,
+  6, 4,9,13,31,30,3,
+  4, 7,14,9,4,
+  4, 26,27,18,5,
+  8, 18,28,19,13,9,14,6,5,
+  4, 10,23,22,8,
+  4, 22,25,21,8,
+  8, 12,31,13,19,29,11,23,10,
+  7, 27,26,24,25,22,23,11,
+  5, 29,28,18,27,11,
+  4, 15,30,31,12,
+  3, 28,29,19,
+};
+public static final double[] h39_planes = { // [ h39_numf * 4 ] = {
+  0.794364,0.251059,-0.553132,0.288182,0.616962,-0.758294,0.21059,0.12361,0.548603,-0.619234,-0.561769,0.344197,-0.526505,-0.792388,0.308081,0.292012,-0.991673,0.108076,-0.0700326,0.209533,-0.73548,-0.309929,-0.602505,0.17599,0.0284606,0.359798,-0.932596,0.318062,-0.184883,0.934913,-0.302912,0.213979,-0.696788,0.0734069,-0.713511,0.243827,-0.830322,0.320028,0.456232,0.342411,-0.493232,0.850288,0.183662,0.146944,0.512456,-0.101226,0.852726,0.335677,-0.0662371,-0.837367,0.542614,0.332994,0.553104,0.49165,0.672575,0.200322,-0.664689,-0.486283,0.567201,0.385014,-0.721996,-0.0507074,0.690036,0.437637,0.818514,0.542417,0.189261,0.299408,-0.474458,0.651966,0.591464,0.333423
+};
+// h40
+public static final int h40_numv = 24;
+public static final int h40_numf = 14;
+public static final double h40_volu = 0.115424;
+public static final double[] h40_pos = { 0.492476,-0.748212,0.263785 };
+public static final double[] h40_verts = { // [ h40_numv * 3 ] = {
+  -0.375103,-0.192297,-0.003592, 0.259307,0.208511,0.137583, 0.097667,-0.251788,0.295436, 0.264741,-0.251788,-0.112461, -0.092178,0.331289,0.031204, 0.024049,0.001327,-0.360189, 0.074171,0.054850,-0.363248, 0.312772,-0.115013,-0.159366, -0.175930,0.233085,-0.125157, -0.094464,-0.251788,-0.287854, -0.004537,0.240191,-0.275299, -0.030207,0.233085,-0.267465, -0.370461,-0.251788,-0.018326, 0.056736,-0.251788,0.315422, -0.153302,0.123509,0.267162, -0.068302,0.078845,0.319783, 0.171724,0.348803,0.156293, 0.053571,0.367605,-0.023060, -0.075373,0.297791,0.199418, 0.109457,0.331072,0.189737, -0.005042,0.303901,0.226077, 0.014996,0.282164,0.244247, -0.076239,0.293319,0.206688, -0.068649,0.297216,0.207331, 
+};
+public static final int[] h40_faces = { // [] = {
+  4, 2,3,7,1,
+  6, 7,6,10,17,16,1,
+  7, 16,19,21,15,13,2,1,
+  5, 13,12,9,3,2,
+  5, 9,5,6,7,3,
+  5, 17,10,11,8,4,
+  6, 8,0,14,22,18,4,
+  7, 18,23,20,19,16,17,4,
+  6, 9,12,0,8,11,5,
+  4, 11,10,6,5,
+  5, 13,15,14,0,12,
+  6, 15,21,20,23,22,14,
+  3, 22,23,18,
+  3, 20,21,19,
+};
+public static final double[] h40_planes = { // [ h40_numf * 4 ] = {
+  0.908278,-0.191373,0.372031,0.246805,0.73808,0.518378,-0.431882,0.240058,0.433652,0.152285,0.888119,0.266393,5.15129e-17,-1,5.27492e-17,0.251788,0.398278,-0.419585,-0.815673,0.302818,-0.348894,0.86639,-0.357268,0.308038,-0.870583,0.45858,0.178295,0.237735,-0.162747,0.964426,0.208316,0.341006,-0.693474,0.121763,-0.710118,0.23926,-0.349687,0.276295,-0.895198,0.314397,-0.598205,-0.236328,0.765702,0.267084,-0.296224,0.4369,0.849335,0.326283,-0.440632,0.78713,0.431589,0.353679,0.071473,0.677671,0.731884,0.371046
+};
+}
\ No newline at end of file
diff --git a/demo/src/test/java/org/ode4j/tests/DemoCollisionTest.java b/demo/src/test/java/org/ode4j/tests/DemoCollisionTest.java
index 4a3bfd0b..628446fd 100644
--- a/demo/src/test/java/org/ode4j/tests/DemoCollisionTest.java
+++ b/demo/src/test/java/org/ode4j/tests/DemoCollisionTest.java
@@ -896,35 +896,59 @@ private boolean test_ray_and_plane() {
     private static boolean edgeIntersectsRect(DVector3 v1, DVector3 v2,
                                               DVector3 p1, DVector3 p2, DVector3 p3) {
         DVector3 u1 = new DVector3(), u2 = new DVector3(), n = new DVector3(), tmp = new DVector3();
+
         //for (k=0; k<3; k++) u1[k] = p3[k]-p1[k];
         u1.eqDiff(p3, p1);
         //for (k=0; k<3; k++) u2[k] = p2[k]-p1[k];
         u2.eqDiff(p2, p1);
+
         double d1 = dSqrt(u1.dot(u1));
         double d2 = dSqrt(u2.dot(u2));
         u1.normalize();
         u2.normalize();
-        if (dFabs(u1.dot(u2)) > 1e-6) dDebug(0, "bad u1/u2");
-        n.eqCross(u1, u2);
-        //for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k];
-        tmp.eqDiff(v2, v1);
-        double d = -n.dot(p1);
-        if (dFabs(n.dot(p1) + d) > 1e-8) dDebug(0, "bad n wrt p1");
-        if (dFabs(n.dot(p2) + d) > 1e-8) dDebug(0, "bad n wrt p2");
-        if (dFabs(n.dot(p3) + d) > 1e-8) dDebug(0, "bad n wrt p3");
-        double alpha = -(d + n.dot(v1)) / n.dot(tmp);
-        //for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]);
+
+        double error;
+        // #ifdef dSINGLE
+        // 	const dReal uEpsilon = 1e-5, pEpsilon = 1e-6, tmpEpsilon = 1.5e-4;
+        // #else
+        final double uEpsilon = 1e-6, pEpsilon = 1e-8, tmpEpsilon = 1e-6;
+        // #endif
+
+        error = dFabs(dCalcVectorDot3(u1, u2));
+        if (error > uEpsilon) dDebug(0, "bad u1/u2");
+
+        dCalcVectorCross3(n, u1, u2);
+
+        // for (k=0; k < 3; k++) tmp[k] = v2[k] - v1[k];
         tmp.eqDiff(v2, v1);
-        tmp.eqSum(v1, tmp.scale(alpha));
-        if (dFabs(n.dot(tmp) + d) > 1e-6) dDebug(0, "bad tmp");
+
+        double d = -dCalcVectorDot3(n, p1);
+
+        error = dFabs(dCalcVectorDot3(n, p1) + d);
+        if (error > pEpsilon) dDebug(0, "bad n wrt p1");
+
+        error = dFabs(dCalcVectorDot3(n, p2) + d);
+        if (error > pEpsilon) dDebug(0, "bad n wrt p2");
+
+        error = dFabs(dCalcVectorDot3(n, p3) + d);
+        if (error > pEpsilon) dDebug(0, "bad n wrt p3");
+
+        double alpha = -(d + dCalcVectorDot3(n, v1)) / dCalcVectorDot3(n, tmp);
+        // for (k=0; k < 3; k++) tmp[k] = v1[k] + alpha * (v2[k] - v1[k]);
+        tmp.eqDiff(v2, v1).scale(alpha).add(v1);
+
+        error = dFabs(dCalcVectorDot3(n, tmp) + d);
+        if (error > tmpEpsilon) dDebug(0, "bad tmp");
 
         if (alpha < 0) return false;
         if (alpha > 1) return false;
+
         //for (k=0; k<3; k++) tmp[k] -= p1[k];
         tmp.sub(p1);
         double a1 = u1.dot(tmp);
         double a2 = u2.dot(tmp);
         if (a1 < 0 || a2 < 0 || a1 > d1 || a2 > d2) return false;
+
         return true;
     }
 
diff --git a/demo/src/test/java/org/ode4j/tests/DemoJointsTest.java b/demo/src/test/java/org/ode4j/tests/DemoJointsTest.java
index 709924f8..e6afa5b9 100644
--- a/demo/src/test/java/org/ode4j/tests/DemoJointsTest.java
+++ b/demo/src/test/java/org/ode4j/tests/DemoJointsTest.java
@@ -87,7 +87,7 @@ public class DemoJointsTest {
     private static DUniversalJoint jointUniversal;
 
 
-    private static int cmd_occasional_error = 0;    // perturb occasionally
+    private static int cmd_occasional_error = 1;    // perturb occasionally
 
 
     // info about the current test
diff --git a/demo/src/test/java/org/ode4j/tests/DemoOdeTest.java b/demo/src/test/java/org/ode4j/tests/DemoOdeTest.java
index 1e7236c3..6402ccd3 100644
--- a/demo/src/test/java/org/ode4j/tests/DemoOdeTest.java
+++ b/demo/src/test/java/org/ode4j/tests/DemoOdeTest.java
@@ -47,8 +47,28 @@
 import static org.ode4j.ode.internal.ErrorHandler.*;
 import static org.ode4j.ode.internal.ErrorHandler.dSetDebugHandler;
 
-
 public class DemoOdeTest {
+    //****************************************************************************
+    // matrix sizes
+
+    // #define dALIGN_SIZE(buf_size, alignment) (((buf_size) + (alignment - 1)) & (int)(~(alignment - 1))) // Casting the mask to int ensures sign-extension to larger integer sizes
+    // #define dALIGN_PTR(buf_ptr, alignment) ((void *)(((duintptr)(buf_ptr) + ((alignment) - 1)) & (int)(~(alignment - 1)))) // Casting the mask to int ensures sign-extension to larger integer sizes
+    //
+    // #define MSIZE 21
+    // #define MSIZE4 dALIGN_SIZE(MSIZE, 4)	// MSIZE rounded up to 4
+    private static final int MSIZE = 21;
+    private static final int MSIZE4 = 24;	// MSIZE rounded up to 4
+
+
+
+
+
+    //****************************************************************************
+    // matrix accessors
+
+    // #define _A(i,j) A[(i)*4+(j)]
+    // #define _I(i,j) I[(i)*4+(j)]
+    // #define _R(i,j) R[(i)*4+(j)]
 
 
     //****************************************************************************
@@ -268,12 +288,6 @@ public void testPlaneSpace() {
     //****************************************************************************
     // test matrix functions
 
-    //#define MSIZE 21
-    //#define MSIZE4 24	// MSIZE rounded up to 4
-    private static final int MSIZE = 21;
-    private static final int MSIZE4 = 24;    // MSIZE rounded up to 4
-
-
     @Test
     public void testMatrixMultiply() {
         // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4
@@ -352,8 +366,10 @@ public void testSmallMatrixMultiply() {
 
     @Test
     public void testCholeskyFactorization() {
-        double[] A = new double[MSIZE4 * MSIZE], B = new double[MSIZE4 * MSIZE];
-        double[] C = new double[MSIZE4 * MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        double[] A = new double[matrixSize];
+        double[] B = new double[matrixSize];
+        double[] C = new double[matrixSize];
         double diff;
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
         dMultiply2(B, A, A, MSIZE, MSIZE, MSIZE);
@@ -368,7 +384,8 @@ public void testCholeskyFactorization() {
 
     @Test
     public void testCholeskyFactorizationM3() {
-        DMatrix3 A = new DMatrix3(), B = new DMatrix3();
+        DMatrix3 A = new DMatrix3();
+        DMatrix3 B = new DMatrix3();
         DMatrix3 C = new DMatrix3();
         double diff;
         dMakeRandomMatrix(A, 1.0);
@@ -384,8 +401,10 @@ public void testCholeskyFactorizationM3() {
 
     @Test
     public void testCholeskySolve() {
-        double[] A = new double[MSIZE4 * MSIZE], L = new double[MSIZE4 * MSIZE];
-        double[] b = new double[MSIZE], x = new double[MSIZE], btest = new double[MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        int vectorSize = MSIZE;
+        double[] A = new double[matrixSize], L = new double[matrixSize];
+        double[] b = new double[vectorSize],x = new double[vectorSize],btest = new double[vectorSize];
         double diff;
 
         // get A,L = PD matrix
@@ -445,8 +464,9 @@ public void testCholeskySolveM3() {
     @Test
     public void testInvertPDMatrix() {
         int i, j, ok;
-        double[] A = new double[MSIZE4 * MSIZE], Ainv = new double[MSIZE4 * MSIZE];
-        double[] I = new double[MSIZE4 * MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        double[] A = new double[matrixSize], Ainv = new double[matrixSize];
+        double[] I = new double[matrixSize];
 
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
         dMultiply2(Ainv, A, A, MSIZE, MSIZE, MSIZE);
@@ -501,7 +521,8 @@ public void testInvertPDMatrixM3() {
 
     @Test
     public void testIsPositiveDefinite() {
-        double[] A = new double[MSIZE4 * MSIZE], B = new double[MSIZE4 * MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        double[] A = new double[matrixSize], B = new double[matrixSize];
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
         dMultiply2(B, A, A, MSIZE, MSIZE, MSIZE);
         assertFalse(dIsPositiveDefinite(A, MSIZE));
@@ -520,9 +541,11 @@ public void testIsPositiveDefiniteM3() {
     @Test
     public void testFastLDLTFactorization() {
         int i, j;
-        double[] A = new double[MSIZE4 * MSIZE], L = new double[MSIZE4 * MSIZE];
-        double[] DL = new double[MSIZE4 * MSIZE];
-        double[] ATEST = new double[MSIZE4 * MSIZE], d = new double[MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        int vectorSize = MSIZE;
+        double[] A = new double[matrixSize], L = new double[matrixSize];
+        double[] DL = new double[matrixSize];
+        double[] ATEST = new double[matrixSize], d = new double[vectorSize];
         double diff;
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
         dMultiply2(L, A, A, MSIZE, MSIZE, MSIZE);
@@ -546,9 +569,11 @@ public void testFastLDLTFactorization() {
 
     @Test
     public void testSolveLDLT() {
-        double[] A = new double[MSIZE4 * MSIZE], L = new double[MSIZE4 * MSIZE];
-        double[] d = new double[MSIZE], x = new double[MSIZE];
-        double[] b = new double[MSIZE], btest = new double[MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        int vectorSize = MSIZE;
+        double[] A = new double[matrixSize], L = new double[matrixSize];
+        double[] d = new double[vectorSize], x = new double[vectorSize];
+        double[] b = new double[vectorSize], btest = new double[vectorSize];
         double diff;
 
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
@@ -571,9 +596,11 @@ public void testSolveLDLT() {
     @Test
     public void testLDLTAddTL() {
         int i, j;
-        double[] A = new double[MSIZE4 * MSIZE], L = new double[MSIZE4 * MSIZE];
-        double[] d = new double[MSIZE], a = new double[MSIZE];
-        double[] DL = new double[MSIZE4 * MSIZE], ATEST = new double[MSIZE4 * MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        int vectorSize = MSIZE;
+        double[] A = new double[matrixSize], L = new double[matrixSize];
+        double[] d = new double[vectorSize], a = new double[vectorSize];
+        double[] DL = new double[matrixSize], ATEST = new double[matrixSize];
         double diff;
 
         dMakeRandomMatrix(A, MSIZE, MSIZE, 1.0);
@@ -609,15 +636,17 @@ public void testLDLTAddTL() {
     @Test
     public void testLDLTRemove() {
         int i, j, r;
-        int[] p = new int[MSIZE];
-        double[] A = new double[MSIZE4 * MSIZE];
-        double[] L = new double[MSIZE4 * MSIZE];
-        double[] d = new double[MSIZE];
-        double[] L2 = new double[MSIZE4 * MSIZE];
-        double[] d2 = new double[MSIZE];
-        double[] DL2 = new double[MSIZE4 * MSIZE];
-        double[] Atest1 = new double[MSIZE4 * MSIZE];
-        double[] Atest2 = new double[MSIZE4 * MSIZE];
+        int matrixSize = MSIZE4 * MSIZE;
+        int vectorSize = MSIZE;
+        int[] p = new int[vectorSize];
+        double[] A = new double[matrixSize];
+        double[] L = new double[matrixSize];
+        double[] L2 = new double[matrixSize];
+        double[] DL2 = new double[matrixSize];
+        double[] Atest1 = new double[matrixSize];
+        double[] Atest2 = new double [matrixSize];
+        double[] d = new double[vectorSize];
+        double[] d2 = new double[vectorSize];
         double diff, maxdiff;
 
         // make array of A row pointers
diff --git a/demo/src/test/java/org/ode4j/tests/TestIssue0008_Gimpact.java b/demo/src/test/java/org/ode4j/tests/TestIssue0008_Gimpact.java
index 7cf8604f..3a0077a5 100644
--- a/demo/src/test/java/org/ode4j/tests/TestIssue0008_Gimpact.java
+++ b/demo/src/test/java/org/ode4j/tests/TestIssue0008_Gimpact.java
@@ -57,8 +57,7 @@ public class TestIssue0008_Gimpact {
      */
     @Test
     public void testLargeTrimesh() {
-    	//TODO Test does not fail yet, even if the last part (0x3FF) is removed from line 76 in
-    	//RadixSort.
+    	//TODO Test does not fail yet, even if the last part (0x3FF) is removed from line 76 in RadixSort.
     	
 //		float[] size = new float[]{ 5.0f, 5.0f, 2.5f };
 //