diff --git a/func_collection.sh b/func_collection.sh
index 2d0004d..c8626e0 100644
--- a/func_collection.sh
+++ b/func_collection.sh
@@ -448,8 +448,8 @@ function fetch_ode_mars() {
     pushd . > /dev/null 2>&1
     mkdir -p ${MARS_DEV_ROOT}/external
     cd ${MARS_DEV_ROOT}/external
-    if [ ! -e "ode-0.12.tar.gz" ]; then
-        wget http://sourceforge.net/projects/opende/files/ODE/0.12/ode-0.12.tar.gz
+    if [ ! -e "ode-0.13.1.tar.gz" ]; then
+        wget http://bitbucket.org/odedevs/ode/downloads/ode-0.13.1.tar.gz
         if [ -d "ode_mars" ]; then 
             uninstall_package "external/ode_mars"
             rm -rf ode_mars
@@ -457,8 +457,8 @@ function fetch_ode_mars() {
     fi
 
     if [ ! -d "ode_mars" ]; then 
-        tar -xzvf ode-0.12.tar.gz
-        mv ode-0.12 ode_mars
+        tar -xzvf ode-0.13.1.tar.gz
+        mv ode-0.13.1 ode_mars
     fi
     cd ..
     popd > /dev/null 2>&1
@@ -634,18 +634,18 @@ function patch_eigen {
 }
 
 function patch_ode_mars {
-    printBold "patching external/ode_mars version 0.12 ..."
+    printBold "patching external/ode_mars version 0.13.1..."
     setScriptDir
     setupConfig
     # patch was accepted upstream (http://sf.net/p/opende/patches/180) and
     # applied to Rev. 1913 (http://sf.net/p/opende/code/1913) and should be
     # in the next release
-    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.12-va_end.patch
-    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.12-lambda.patch
-    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.12-export_joint_internals.patch
+    #patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.12-va_end.patch
+    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.13.1-lambda.patch
+    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.13.1-export_joint_internals.patch
     # patch was submitted upstream (http://sf.net/p/opende/patches/187)
-    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.12-abort.patch
-    printBold "... done patching external/ode_mars version 0.12."
+    patch -N -p0 -d ${MARS_DEV_ROOT}/external/ode_mars -i ${MARS_SCRIPT_DIR}/patches/ode-0.13.1-abort.patch
+    printBold "... done patching external/ode_mars version 0.13.1."
 }
 
 
@@ -727,6 +727,7 @@ function install_ode_mars {
       export CFLAGS=-fPIC
       export CXXFLAGS=-fPIC
       # --enable-release
+      ./bootstrap
       ./configure CPPFLAGS="-DdNODEBUG" CXXFLAGS="-O2 -ffast-math -fPIC" CFLAGS="-O2 -ffast-math -fPIC" --enable-double-precision --prefix=$prefix --with-drawstuff=none --disable-demos
       if [ "${platform}" = "linux" ]; then
         if [ x`which libtool` != x ]; then
diff --git a/patches/ode-0.12-abort.patch b/patches/ode-0.12-abort.patch
deleted file mode 100644
index 01ff7c6..0000000
--- a/patches/ode-0.12-abort.patch
+++ /dev/null
@@ -1,42 +0,0 @@
---- ode/src/error.cpp	2013-02-08 10:21:03.886689559 +0100
-+++ ode/src/error.cpp	2013-02-08 10:22:33.438692195 +0100
-@@ -90,7 +90,8 @@
-   if (error_function) error_function (num,msg,ap);
-   else printMessage (num,"ODE Error",msg,ap);
-   va_end (ap);
--  exit (1);
-+  if (!error_function)
-+    exit (1);
- }
- 
- 
-@@ -102,7 +103,8 @@
-   else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
-   // *((char *)0) = 0;   ... commit SEGVicide
-   va_end (ap);
--  abort();
-+  if (!debug_function)
-+    abort();
- }
- 
- 
-@@ -145,7 +147,8 @@
-     MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
-   }
-   va_end (ap);
--  exit (1);
-+  if (!error_function)
-+    exit (1);
- }
- 
- 
-@@ -162,7 +165,8 @@
-     MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
-   }
-   va_end (ap);
--  abort();
-+  if (!debug_function)
-+    abort();
- }
- 
- 
diff --git a/patches/ode-0.12-lambda.patch b/patches/ode-0.12-lambda.patch
deleted file mode 100644
index c4b19e3..0000000
--- a/patches/ode-0.12-lambda.patch
+++ /dev/null
@@ -1,21 +0,0 @@
---- include/ode/common.h	Mon Jun  2 23:09:37 2008
-+++ include/ode/common.h	Wed Aug  8 08:43:51 2012
-@@ -370,6 +370,7 @@
-   dVector3 t1;		/* torque applied to body 1 */
-   dVector3 f2;		/* force applied to body 2 */
-   dVector3 t2;		/* torque applied to body 2 */
-+  dReal lambda;
- } dJointFeedback;
- 
- 
---- ode/src/step.cpp	Thu Jul 24 22:18:40 2008
-+++ ode/src/step.cpp	Mon Oct 15 12:58:57 2012
-@@ -762,7 +762,8 @@
-             cf2[4] += (fb->t2[0] = data[4]);
-             cf2[5] += (fb->t2[1] = data[5]);
-             cf2[6] += (fb->t2[2] = data[6]);
-           }
-+          fb->lambda = *(lambdarow+5);
-         }
-         else {
- 	       // no feedback is required, let's compute cforce the faster way
diff --git a/patches/ode-0.12-va_end.patch b/patches/ode-0.12-va_end.patch
deleted file mode 100644
index 4d5e4ca..0000000
--- a/patches/ode-0.12-va_end.patch
+++ /dev/null
@@ -1,154 +0,0 @@
---- ode/src/error.cpp	Mon Oct 15 13:20:28 2012
-+++ ode/src/error.cpp	Mon Oct 15 13:20:38 2012
-@@ -89,6 +89,7 @@
-   va_start (ap,msg);
-   if (error_function) error_function (num,msg,ap);
-   else printMessage (num,"ODE Error",msg,ap);
-+  va_end (ap);
-   exit (1);
- }
- 
-@@ -100,6 +101,7 @@
-   if (debug_function) debug_function (num,msg,ap);
-   else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
-   // *((char *)0) = 0;   ... commit SEGVicide
-+  va_end (ap);
-   abort();
- }
- 
-@@ -110,6 +112,7 @@
-   va_start (ap,msg);
-   if (message_function) message_function (num,msg,ap);
-   else printMessage (num,"ODE Message",msg,ap);
-+  va_end (ap);
- }
- 
- #endif
-@@ -141,6 +144,7 @@
-     s[sizeof(s)-1] = 0;
-     MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
-   }
-+  va_end (ap);
-   exit (1);
- }
- 
-@@ -157,6 +161,7 @@
-     s[sizeof(s)-1] = 0;
-     MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
-   }
-+  va_end (ap);
-   abort();
- }
- 
-@@ -167,6 +172,7 @@
-   va_start (ap,msg);
-   if (message_function) message_function (num,msg,ap);
-   else printMessage (num,"ODE Message",msg,ap);
-+  va_end (ap);
- }
- 
- 
---- ode/demo/demo_ode.cpp	Mon Oct 15 13:17:15 2012
-+++ ode/ode/demo/demo_ode.cpp	Mon Oct 15 13:17:26 2012
-@@ -951,6 +951,7 @@
-     va_list ap;
-     va_start (ap,name);
-     vsprintf (mi->name,name,ap);
-+    va_end (ap);
-     if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
- 
-     mat.push_back(mi);
-@@ -967,6 +968,7 @@
-     va_list ap;
-     va_start (ap,name);
-     vsprintf (mi.name,name,ap);
-+    va_end (ap);
-     if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
- 
-     if (strcmp(mp->name,mi.name) != 0)
---- drawstuff/src/osx.cpp	Mon Oct 15 13:18:38 2012
-+++ drawstuff/src/osx.cpp	Mon Oct 15 13:18:48 2012
-@@ -79,6 +79,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   printMessage ("Error",msg,ap);
-+  va_end (ap);
-   exit (1);
- }
- 
-@@ -89,6 +90,7 @@
-   va_start (ap,msg);
-   printMessage ("INTERNAL ERROR",msg,ap);
-   // *((char *)0) = 0;	 ... commit SEGVicide ?
-+  va_end (ap);
-   abort();
- }
- 
-@@ -97,6 +99,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   vprintf (msg,ap);
-+  va_end (ap);
- }
- 
- static void captureFrame( int num ){
---- drawstuff/src/windows.cpp	Mon Oct 15 13:18:55 2012
-+++ drawstuff/src/windows.cpp	Mon Oct 15 13:19:15 2012
-@@ -54,6 +54,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   errorBox ("Warning",msg,ap);
-+  va_end (ap);
- }
- 
- 
-@@ -62,6 +63,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   errorBox ("Error",msg,ap);
-+  va_end (ap);
-   exit (1);
- }
- 
-@@ -72,6 +74,7 @@
-   va_start (ap,msg);
-   errorBox ("INTERNAL ERROR",msg,ap);
-   // *((char *)0) = 0;	 ... commit SEGVicide ?
-+  va_end (ap);
-   abort();
-   exit (1);	  // should never get here, but just in case...
- }
-@@ -82,6 +85,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   vprintf (msg,ap);
-+  va_end (ap);
- }
- 
- //***************************************************************************
---- drawstuff/src/x11.cpp	Mon Oct 15 13:19:50 2012
-+++ drawstuff/src/x11.cpp	Mon Oct 15 13:19:58 2012
-@@ -62,6 +62,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   printMessage ("Error",msg,ap);
-+  va_end (ap);
-   exit (1);
- }
- 
-@@ -72,6 +73,7 @@
-   va_start (ap,msg);
-   printMessage ("INTERNAL ERROR",msg,ap);
-   // *((char *)0) = 0;	 ... commit SEGVicide ?
-+  va_end (ap);
-   abort();
- }
- 
-@@ -81,6 +83,7 @@
-   va_list ap;
-   va_start (ap,msg);
-   vprintf (msg,ap);
-+  va_end (ap);
- }
- 
- //***************************************************************************
diff --git a/patches/ode-0.13.1-abort.patch b/patches/ode-0.13.1-abort.patch
new file mode 100644
index 0000000..5d0e510
--- /dev/null
+++ b/patches/ode-0.13.1-abort.patch
@@ -0,0 +1,38 @@
+--- ode/src/error.cpp	2014-02-04 07:00:58.000000000 +0100
++++ ode/src/error.cpp	2016-01-25 13:14:51.437768604 +0100
+@@ -90,7 +90,8 @@
+     if (error_function) error_function (num,msg,ap);
+     else printMessage (num,"ODE Error",msg,ap);
+     va_end (ap);
+-    exit (1);
++    if (!error_function)
++    exit (1);    
+ }
+ 
+ 
+@@ -102,6 +103,7 @@
+     else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
+     va_end (ap);
+     // *((char *)0) = 0;   ... commit SEGVicide
++    if (!debug_function)
+     abort();
+ }
+ 
+@@ -145,6 +147,7 @@
+         MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
+     }
+     va_end (ap);
++    if (!error_function)
+     exit (1);
+ }
+ 
+@@ -162,7 +165,8 @@
+         MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
+     }
+     va_end (ap);
+-    abort();
+++   if (!debug_function)
+++   abort();
+ }
+ 
+ 
diff --git a/patches/ode-0.12-export_joint_internals.patch b/patches/ode-0.13.1-export_joint_internals.patch
similarity index 52%
rename from patches/ode-0.12-export_joint_internals.patch
rename to patches/ode-0.13.1-export_joint_internals.patch
index 249df00..1663cc5 100644
--- a/patches/ode-0.12-export_joint_internals.patch
+++ b/patches/ode-0.13.1-export_joint_internals.patch
@@ -1,9 +1,10 @@
---- ode/src/Makefile.am	Fri Jul 11 08:16:50 2008
-+++ ode/src/Makefile.am	Wed Aug  8 08:43:51 2012
-@@ -14,6 +14,13 @@
- libode_la_LDFLAGS = @EXTRA_LIBTOOL_LDFLAGS@ @ODE_VERSION_INFO@
- libode_la_LIBADD = libfast.la joints/libjoints.la
+--- ode/src/Makefile.am	2014-02-04 07:00:58.000000000 +0100
++++ ode/src/Makefile.am	2016-01-25 13:14:51.545768600 +0100
+@@ -8,7 +8,13 @@
+ noinst_LTLIBRARIES = libfast.la
+ libfast_la_SOURCES = fastldlt.c fastltsolve.c fastdot.c fastlsolve.c
  
+-
 +# to create child classes of dJoint, we need to make more of
 +# the internal data structures accessible.
 +libode_la_includedir = $(includedir)/ode-internals
@@ -12,11 +13,11 @@
 +			obstack.h \
 +			config.h
  
- # please, let's keep the filenames sorted
- libode_la_SOURCES =     array.cpp array.h \
---- ode/src/joints/Makefile.am	Wed Jun  4 23:47:13 2008
-+++ ode/ode/src/joints/Makefile.am	Wed Aug  8 08:43:51 2012
-@@ -2,6 +2,9 @@
+ lib_LTLIBRARIES = libode.la
+ 
+--- ode/src/joints/Makefile.am	2014-02-04 07:00:58.000000000 +0100
++++ ode/ode/src/joints/Makefile.am	2016-01-25 13:14:51.949768584 +0100
+@@ -4,6 +4,9 @@
  
  noinst_LTLIBRARIES = libjoints.la
  
@@ -26,3 +27,4 @@
  libjoints_la_SOURCES =  joints.h \
                          joint.h joint.cpp \
                          joint_internal.h \
+ 
diff --git a/patches/ode-0.13.1-lambda.patch b/patches/ode-0.13.1-lambda.patch
new file mode 100644
index 0000000..64db5a7
--- /dev/null
+++ b/patches/ode-0.13.1-lambda.patch
@@ -0,0 +1,23 @@
+--- include/ode/common.h	2014-02-27 21:42:09.000000000 +0100
++++ include/ode/common.h	2016-01-25 13:14:50.297768650 +0100
+@@ -337,6 +337,7 @@
+   dVector3 t1;		/* torque applied to body 1 */
+   dVector3 f2;		/* force applied to body 2 */
+   dVector3 t2;		/* torque applied to body 2 */
++  dReal lambda;
+ } dJointFeedback;
+
+ 
+--- ode/src/step.cpp	2014-03-05 17:05:14.000000000 +0100
++++ ode/src/step.cpp	2016-01-25 13:14:51.665768595 +0100
+@@ -1293,8 +1293,9 @@
+                         cf2[2] += (fb->f2[2] = data[2]);
+                         cf2[4] += (fb->t2[0] = data[4]);
+                         cf2[5] += (fb->t2[1] = data[5]);
+-                        cf2[6] += (fb->t2[2] = data[6]);
++                        cf2[6] += (fb->t2[2] = data[6]);                        
+                     }
++                    fb->lambda = *(lambdarow+5);
+                 }
+                 else {
+                     // no feedback is required, let's compute cforce the faster way