diff --git a/Externals/ode/include/ode/common.h b/Externals/ode/include/ode/common.h
index c593ce67a63..91d50880a6b 100644
--- a/Externals/ode/include/ode/common.h
+++ b/Externals/ode/include/ode/common.h
@@ -26,6 +26,10 @@
 #include <ode/error.h>
 #include <math.h>
 
+#ifdef LINUX
+#include <alloca.h>
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/Externals/ode/include/ode/config.h b/Externals/ode/include/ode/config.h
index 6fbfa2feae7..8588ab2dbc2 100644
--- a/Externals/ode/include/ode/config.h
+++ b/Externals/ode/include/ode/config.h
@@ -23,7 +23,9 @@
 
 /* per-machine configuration */
 
-
+#ifdef LINUX
+#include <stdint.h>
+#endif
 
 #ifndef _ODE_CONFIG_H_
 
diff --git a/Externals/ode/ode/src/StepJointInternal.h b/Externals/ode/ode/src/StepJointInternal.h
index 2ac482a2bc6..07f24d2e0e8 100644
--- a/Externals/ode/ode/src/StepJointInternal.h
+++ b/Externals/ode/ode/src/StepJointInternal.h
@@ -1,4 +1,4 @@
 #ifndef STEP_JOINT_INTERNAL_H
 #define STEP_JOINT_INTERNAL_H
 	void dInternalStepJointContact (dxWorld * world, dxBody * body[2], dReal * GI[2], dReal * GinvI[2], dxJoint * joint, dxJoint::Info1 info, dxJoint::Info2 Jinfo, dReal stepsize);
-#endif STEP_JOINT_INTERNAL_H
\ No newline at end of file
+#endif // STEP_JOINT_INTERNAL_H
\ No newline at end of file
diff --git a/Externals/ode/ode/src/error.cpp b/Externals/ode/ode/src/error.cpp
index 9b33db55f0c..9e5e2fada3f 100644
--- a/Externals/ode/ode/src/error.cpp
+++ b/Externals/ode/ode/src/error.cpp
@@ -81,6 +81,7 @@ static void printMessage (int num, const char *msg1, const char *msg2,
 // unix
 
 #ifndef WIN32
+#include <stdlib.h>
 
 extern "C" void dError (int num, const char *msg, ...)
 {
diff --git a/Externals/ode/ode/src/odemath.cpp b/Externals/ode/ode/src/odemath.cpp
index 47da06c2da3..63c9a03c4f7 100644
--- a/Externals/ode/ode/src/odemath.cpp
+++ b/Externals/ode/ode/src/odemath.cpp
@@ -23,6 +23,7 @@
 #include <ode/common.h>
 #include <ode/odemath.h>
 #include <float.h>
+#include <cmath>
 
 // this may be called for vectors `a' with extremely small magnitude, for
 // example the result of a cross product on two nearly perpendicular vectors.
@@ -51,7 +52,7 @@ void dNormalize3_slow (dVector3 a)
 			a2 /= aa1;
 			l = dRecipSqrt (a0*a0 + a2*a2 + 1);
 			a[0] = a0*l;
-			a[1] = (dReal)_copysign(l,a1);
+			a[1] = (dReal)std::copysign(l,a1);
 			a[2] = a2*l;
 		}
 	}
@@ -63,7 +64,7 @@ void dNormalize3_slow (dVector3 a)
 			l = dRecipSqrt (a0*a0 + a1*a1 + 1);
 			a[0] = a0*l;
 			a[1] = a1*l;
-			a[2] = (dReal)_copysign(l,a2);
+			a[2] = (dReal)std::copysign(l,a2);
 		}
 		else {		// aa0 is largest
 			if (aa0 <= 0) {
@@ -76,7 +77,7 @@ void dNormalize3_slow (dVector3 a)
 			a1 /= aa0;
 			a2 /= aa0;
 			l = dRecipSqrt (a1*a1 + a2*a2 + 1);
-			a[0] = (dReal)_copysign(l,a0);
+			a[0] = (dReal)std::copysign(l,a0);
 			a[1] = a1*l;
 			a[2] = a2*l;
 		}
diff --git a/Externals/ode/ode/src/util.h b/Externals/ode/ode/src/util.h
index 96a636f7a3d..9572cd2c53a 100644
--- a/Externals/ode/ode/src/util.h
+++ b/Externals/ode/ode/src/util.h
@@ -25,6 +25,9 @@
 
 #include "objects.h"
 #include "float.h"
+#if defined(LINUX)
+#include <cmath>
+#endif
 
 void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);
 extern "C"
@@ -37,19 +40,31 @@ typedef void (*dstepper_fn_t) (dxWorld *world, dxBody * const *body, int nb,
 
 void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);
 
-inline bool		dValid	(const float x)
+inline bool dValid(const float x)
 {
-	// check for: Signaling NaN, Quiet NaN, Negative infinity ( –INF), Positive infinity (+INF), Negative denormalized, Positive denormalized
-	int			cls			= _fpclass		(double(x));
-	if (cls&(_FPCLASS_SNAN+_FPCLASS_QNAN+_FPCLASS_NINF+_FPCLASS_PINF+_FPCLASS_ND+_FPCLASS_PD))	
-		return	false;	
-
-	/*	*****other cases are*****
-	_FPCLASS_NN Negative normalized non-zero 
-	_FPCLASS_NZ Negative zero ( – 0) 
-	_FPCLASS_PZ Positive 0 (+0) 
-	_FPCLASS_PN Positive normalized non-zero 
-	*/
-	return		true;
+#ifdef MSVC
+    // check for: Signaling NaN, Quiet NaN, Negative infinity (-INF), Positive infinity (+INF), Negative denormalized, Positive denormalized
+    int cls = _fpclass (double(x));
+    if (cls&(_FPCLASS_SNAN+_FPCLASS_QNAN+_FPCLASS_NINF+_FPCLASS_PINF+_FPCLASS_ND+_FPCLASS_PD))
+       return false;
+#elif defined(LINUX)
+	int cls = std::fpclassify((double )x);
+    switch (cls)
+    {
+    case FP_NAN:
+    case FP_INFINITE:
+    case FP_SUBNORMAL:
+        return false;
+    default:
+        break;
+    }
+#endif
+    /*	*****other cases are*****
+     _FPCLASS_NN Negative normalized non-zero
+     _FPCLASS_NZ Negative zero (-0)
+     _FPCLASS_PZ Positive 0 (+0)
+     _FPCLASS_PN Positive normalized non-zero
+     */
+    return true;
 }
 #endif