diff --git a/BioMove3D/Makefile b/BioMove3D/Makefile
index 06744c78205c7beb6402b048fb6e9ea5df0205ae..b4e8d31263e246d5d4dad96434953512b750140c 100644
--- a/BioMove3D/Makefile
+++ b/BioMove3D/Makefile
@@ -2,7 +2,7 @@
# Created: Severin Lemaignan on Tue, 31 Aug 2010
#
-DISTNAME= BioMove3D-3.7.13
+DISTNAME= BioMove3D-3.7.16
CATEGORIES= path
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=BioMove3D/}
MASTER_REPOSITORY= git http://trac.laas.fr/git/robots/BioMove3D.git
diff --git a/BioMove3D/PLIST b/BioMove3D/PLIST
index a153abe2ae834d1a30869fd17036f8c3d300e0e4..a4f20b6b3eaf12bfcbd93d7b3a89840d74ad77f8 100644
--- a/BioMove3D/PLIST
+++ b/BioMove3D/PLIST
@@ -111,23 +111,18 @@ include/BioMove3D/collision/Kcd/proto/kcd_obb_proto.h
include/BioMove3D/collision/Kcd/proto/kcd_proto.h
include/BioMove3D/collision/Kcd/proto/kcd_tables_proto.h
include/BioMove3D/collision/Kcd/proto/kcd_triangles_proto.h
-include/BioMove3D/collision/PQP/BV.h
-include/BioMove3D/collision/PQP/BVTQ.h
-include/BioMove3D/collision/PQP/Build.h
-include/BioMove3D/collision/PQP/GetTime.h
-include/BioMove3D/collision/PQP/MatVec.h
-include/BioMove3D/collision/PQP/OBB_Disjoint.h
-include/BioMove3D/collision/PQP/PQP.h
-include/BioMove3D/collision/PQP/PQP_Compile.h
-include/BioMove3D/collision/PQP/PQP_Internal.h
-include/BioMove3D/collision/PQP/RectDist.h
-include/BioMove3D/collision/PQP/Tri.h
-include/BioMove3D/collision/PQP/TriDist.h
include/BioMove3D/collision/PQP/include/BV.h
+include/BioMove3D/collision/PQP/include/BVTQ.h
+include/BioMove3D/collision/PQP/include/Build.h
+include/BioMove3D/collision/PQP/include/GetTime.h
+include/BioMove3D/collision/PQP/include/MatVec.h
+include/BioMove3D/collision/PQP/include/OBB_Disjoint.h
include/BioMove3D/collision/PQP/include/PQP.h
include/BioMove3D/collision/PQP/include/PQP_Compile.h
include/BioMove3D/collision/PQP/include/PQP_Internal.h
+include/BioMove3D/collision/PQP/include/RectDist.h
include/BioMove3D/collision/PQP/include/Tri.h
+include/BioMove3D/collision/PQP/include/TriDist.h
include/BioMove3D/collision/PQP/include/p3d_pqp.h
include/BioMove3D/collision/Vcollide/include/VCol-old.h
include/BioMove3D/collision/Vcollide/src/VCol.h
diff --git a/BioMove3D/depend.mk b/BioMove3D/depend.mk
index ae76614ab43e680eb5f22ada9a01ca305167f7b6..3c0d8daaaa42c1af5898335577cfaba4adc12e5f 100644
--- a/BioMove3D/depend.mk
+++ b/BioMove3D/depend.mk
@@ -32,7 +32,7 @@ SYSTEM_SEARCH.BioMove3D=\
DEPEND_USE+= BioMove3D
-DEPEND_ABI.BioMove3D?=BioMove3D>=3.7.13
+DEPEND_ABI.BioMove3D?=BioMove3D>=3.7.16
DEPEND_DIR.BioMove3D?=../../wip/BioMove3D
#include ../../wip/??
diff --git a/BioMove3D/distinfo b/BioMove3D/distinfo
index 275deb50285ddc6dd6ffac297441a7ef0c2da8fa..0638ce88a092b5d4f0b45bc9cbece61f0ac4631e 100644
--- a/BioMove3D/distinfo
+++ b/BioMove3D/distinfo
@@ -1,5 +1,3 @@
-SHA1 (BioMove3D-3.7.13.tar.gz) = df49951dc567eae8bb302a087884713b53b74acb
-RMD160 (BioMove3D-3.7.13.tar.gz) = 84bb8335255cd9a19dae5f168f3d479a037291a0
-Size (BioMove3D-3.7.13.tar.gz) = 5650289 bytes
-SHA1 (patch-aa) = 6b2c3039448cfb79aa0636746a4483dc711c99ca
-SHA1 (patch-ab) = 6646114d74dd0b4f94abb350ec130fc0513adbb1
+SHA1 (BioMove3D-3.7.16.tar.gz) = 02e250cda0ab3c74eeaed7d1518d5ce5a0ebcd13
+RMD160 (BioMove3D-3.7.16.tar.gz) = 0edd887dfccb4e80f61bd7c3e9e96893606f4b67
+Size (BioMove3D-3.7.16.tar.gz) = 5381101 bytes
diff --git a/BioMove3D/patches/patch-aa b/BioMove3D/patches/patch-aa
deleted file mode 100644
index ee3dbe4696c28401f01022deefbd85ca06984175..0000000000000000000000000000000000000000
--- a/BioMove3D/patches/patch-aa
+++ /dev/null
@@ -1,57 +0,0 @@
-diff --git a/graphic/g3d_draw_env.c b/graphic/g3d_draw_env.c
-index fb65ddd..2274907 100644
---- graphic/g3d_draw_env.c
-+++ graphic/g3d_draw_env.c
-@@ -1745,8 +1745,7 @@ void g3d_draw(void)
-
- g3d_draw_env();
-
-- float scale= 0.7;
- if(win->vs.enableLogo==1) {
-- g3d_display_logo(win->vs, 10.0, 10.0, 0.7);
-+ g3d_display_logo(win->vs, 10.0, 10.0, 0.33);
- }
- }
-diff --git a/graphic/g3d_states.c b/graphic/g3d_states.c
-index 75f2f51..a287620 100644
---- graphic/g3d_states.c
-+++ graphic/g3d_states.c
-@@ -927,9 +927,9 @@ int g3d_load_logo_texture(g3d_states &vs)
- //! Displays the LAAS logo.
- //! \param offsetX X position of the logo lower-left corner (from the image lower-left corner)
- //! \param offsetY Y position of the logo lower-left corner (from the image lower-left corner)
--//! \param scale scale factor to apply to the logo (original size in g3d_logo.h)
-+//! \param widthRatio ratio of the logo width with respect of the OpenGL window width (e.g.: use 0.1 if you want the logo width to be 1/10 of the window width)
- //! \return 0 in case of success, 1 otherwise
--int g3d_display_logo(g3d_states &vs, float offsetX, float offsetY, float scale)
-+int g3d_display_logo(g3d_states &vs, float offsetX, float offsetY, float widthRatio)
- {
- static int firstTime= TRUE;
-
-@@ -942,10 +942,14 @@ int g3d_display_logo(g3d_states &vs, float offsetX, float offsetY, float scale)
-
- GLint viewport[4];
- int width, height;
-+ float scale;
-
- glGetIntegerv(GL_VIEWPORT, viewport);
- width = viewport[2];
- height = viewport[3];
-+
-+ scale= widthRatio*width/( (float) LOGO_WIDTH);
-+
- #ifdef USE_SHADERS
- g3d_no_shader();
- #endif
-diff --git a/graphic/proto/g3d_states_proto.h b/graphic/proto/g3d_states_proto.h
-index 8ef011e..50ee647 100644
---- graphic/proto/g3d_states_proto.h
-+++ graphic/proto/g3d_states_proto.h
-@@ -45,6 +45,6 @@ extern int g3d_load_state(g3d_win *win, g3d_states *st);
- extern int g3d_checkGLerrors(char *message);
-
- int g3d_load_logo_texture(g3d_states &vs);
--int g3d_display_logo(g3d_states &vs, float offsetX, float offsetY, float scale);
-+int g3d_display_logo(g3d_states &vs, float offsetX, float offsetY, float widthRatio);
-
- #endif // G3D_STATES_PROTO_H
diff --git a/BioMove3D/patches/patch-ab b/BioMove3D/patches/patch-ab
deleted file mode 100644
index 79f280f8c9adcc9aa6a7d2a83a3d2ead705fe05d..0000000000000000000000000000000000000000
--- a/BioMove3D/patches/patch-ab
+++ /dev/null
@@ -1,15 +0,0 @@
-diff --git a/hri_planner/hri_agent.c b/hri_planner/hri_agent.c
-index 977c18e..3a53d65 100644
---- hri_planner/hri_agent.c
-+++ hri_planner/hri_agent.c
-@@ -258,8 +258,8 @@ HRI_PERSP * hri_create_agent_perspective(HRI_AGENT * agent, p3d_env *env)
- break;
- case HRI_JIDOKUKA:
- persp->camjoint = agent->robotPt->joints[30];
-- persp->fov = 60;
-- persp->foa = 60;
-+ persp->fov = 63.6;
-+ persp->foa = 33.4;
- persp->tilt_jnt_idx = 3;
- persp->pan_jnt_idx = 2;
- persp->pointjoint = agent->robotPt->joints[33];