How to Install ODE

online manual

INSTALLING ON WINDOWS

You need to have a C compiler. I recommend you download and install Visual C++ from Visual Studio Express for free. Download the 2010 version if you don't have the 2008 version already installed.

Download ode-0.11.1.zip from www.ode.org (click on download, click on version-numbered source releases, which redirects you to the sourceforge repository)

Extract all into ode-01.11.1
in the subdirectory build run the command
 premake4 --with-demos vs2008
You can do this in a command prompt window (accessories/command prompt).
Use 2008 even if you actually have the Visual Studio 2010.

double click on
ode-01.11.1/build/vs2008/ode.vcproj
This should launch a Visual C++ window.
If you are running VS2010 it will want to convert the project to 2010.
Go for it. No need to create backups if it asks about that.

VS2008: Click on the toplevel menu item Build, and then Build Solution
VS2010: Click on the toplevel menu item Debug, and then Build Solution.

Executable demo programs end up in ode-0.11.1/lib/DebugDoubleDLL/

INSTALLING ON LINUX

Note: If OpenGL includes and libraries are not already installed in your version of linux, you may have to install some packages along the lines of Free86-OpenGL-devel-xxx, X11-OpenGL-devel-xxx, Mesa-libGL-devel-xxx, libgl1-mesa-dev, libgl1-mesa-dev, libx11-dev, and libglu1-mesa-dev. Check out http://www.mesa3d.org/

Something like
 sudo apt-get update
 sudo apt-get install libgl1-mesa-dev libx11-dev libglu1-mesa-dev
or
 sudo apt-get update
 sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
should install all the headers

Download ode-0.11.1.zip from www.ode.org (click on download, click on version-numbered source releases, which redirects you to the sourceforge repository)

unzip ode-0.11.1.zip

cd ode-0.11.1

./configure

make

make install

You are ready to roll here.

To get to demos
cd ode/demo
./demo_basket
...

What follows is for people who want to get into it more deeply.

Look at ode-0.11.1/INSTALL.txt for how to tune ODE for your machine. Check out ode-config

----------------------------------------------------------------------
Libraries have been installed in:
   /usr/local/lib
If you ever happen to want to link against installed libraries
in a given directory, LIBDIR, you must either use libtool, and
specify the full pathname of the library, or use the `-LLIBDIR'
flag during linking and do at least one of the following:
   - add LIBDIR to the `LD_LIBRARY_PATH' environment variable
     during execution
   - add LIBDIR to the `LD_RUN_PATH' environment variable
     during linking
   - use the `-Wl,-rpath -Wl,LIBDIR' linker flag
   - have your system administrator add LIBDIR to `/etc/ld.so.conf'
See any operating system documentation about shared libraries for
more information, such as the ld(1) and ld.so(8) manual pages.
----------------------------------------------------------------------

INSTALLING ON OS X

First download premake 4.3 from http://sourceforge.net/projects/premake/files/

Then download ode from its subversion repository (which is more up-to-
date than sourceforge):

svn co https://opende.svn.sourceforge.net/svnroot/opende/trunk ode

Then run these thingies:

cd ode
./autogen.sh
./configure --enable-double-precision
make
cd build
premake4 gmake
cd gmake
make config=debugdoubledll

I don't think you actually need to run all of them, but if you do, it
will definitely work.

Here is how to modify Makefiles that Atkeson creates:

1) Add
CPP=3Dg++
or
CPP=3Dc++
to Makefile

In Makefiles, you may need to say something like
XLIBS=-framework OpenGL -framework GLUT
or
-framework OpenGL -framework Carbon -framework AGL -Wl,-bind_at_load -lpthread
instead of what you would say in linux:
XLIBS = -lGLU -lGL -lX11

Delete #include "malloc.h" in all files