Пример использования ODE:

OdeWorldCreate();
OdeWorldSetGravity(0,-0.981,0);
	OdeWorldSetCFM(1e-5);
	OdeWorldSetERP(0.2);
    OdeWorldSetContactMaxCorrectingVel(0.9);
    OdeWorldSetContactSurfaceLayer(0);
    OdeWorldSetAutoDisableFlag(1);
space = OdeHashSpaceCreate(0);

sphere1 = SphereCreate(0);
ObjectSetPosition(sphere1,0,10,-10,0);
sphere1_body = OdeBodyCreate();
sphere1_mass = OdeMassCreate();
OdeBodySetMass(sphere1_body,sphere1_mass);
OdeBodySetPosition(sphere1_body,0,10,-10);
sphere1_geom = OdeCreateSphere(space,1);
OdeGeomSetBody(sphere1_geom,sphere1_body);
sphere1_matrix = MatrixCreate();
ObjectUseLocalMatrix(sphere1,1);

OdeGeomGetMatrix(sphere1_geom,sphere1_matrix);
ObjectSetLocalMatrix(sphere1,sphere1_matrix);

EngineUpdate();
OdeSpaceCollide(space);
OdeWorldQuickStep(0.05);
