indent cleanup and com_phys_ode.c compile fix

[jopadan]

• fixes com_phys_ode.c: Error: you can only #define dSINGLE or dDOUBLE, not both #309
• indent cleanup of several files
• update vector/matrix types
• use #define do while instead of [inline] function for cross/vector product

[Xylemon]

@Shpoike ping for feedback

[Shpoike]

no thanks. fte's tabs are 4-spaces big (a legacy of msvc and the original quake code), not 8. reconfigure your editor instead of breaking indents - there will no doubt be many many places that were missed. it also requires c23 and includes non-standard pragmas. with regard to the ode 'fix', reducing precision will make it more likely that ODE will just abruptly crash out when it manages to degrade precision too much, so its probably better to just use the correct version of ODE instead of a non-standard build (double is the default).