ODE常用變量：
dWorldID world;
dSpaceID space;
dJointGroupID  contactgroup;
dBodyID body;
dGeomID geom;
初始化：
void InitODE(){
 dInitODE();
 world=dWorldCreate();
 space=dHashSpaceCreate(0);
 contactgroup=dJointGroupCreate(0);
 dWorldSetGravity(world,0,-9.8,0);
}
回調(diào)函數(shù)：計算碰撞點
void nearCallback(void* node, dGeomID o1, dGeomID o2)
{
  int i=0;
  dBodyID b1=dGeomGetBody(o1);
  dBodyID b2=dGeomGetBody(o2);
  const int MAX_CONTACTS = 8;
  if(b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))return;
  dContact contact[MAX_CONTACTS];
    for(i=0;i<MAX_CONTACTS;++i)
  {
    contact[i].surface.mode=dContactBounce | dContactSoftCFM;
    contact[i].surface.mu=100000.0;
    contact[i].surface.mu2=.00001;
    contact[i].surface.bounce=.2;
    contact[i].surface.bounce_vel=.1;
    contact[i].surface.soft_cfm=.0000001;
  }
    int numc=dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,sizeof(dContact));
  if(numc>0)
  {
    for(i=0;i<numc;i++)
    {
      dJointID c=dJointCreateContact(world,contactgroup,&contact[i]);
      dJointAttach(c,b1,b2);
    }
  }
}
程序主循環(huán)
while(device->run())
 {
  setPosition(geom);
  dJointGroupEmpty (contactgroup);    //清空碰撞點組
  driver->beginScene(true, true, SColor(0,200,200,200));
  dSpaceCollide (space,0,&nearCallback); //通過回調(diào)函數(shù)計算碰撞點等數(shù)據(jù)
  dWorldQuickStep(world,0.025); //使物理世界隨著時間變化
  smgr->drawAll();
  guienv->drawAll();

  driver->endScene();
 }