ODE ('Open Dynamics Engine') is a 3D physics library.
It appears to be easy to build ODE under Windows with Visual Studio or under Linux. Although I succeeded in building the .DLL and .LIB files, I could not successfully link it to my project.
I did not succeed in building ODE under Windows with Qt Creator, because of compile errors when static linking to the source.
Due to compile errors in a freshly checked-out project I saw the code and was not impressed. Then I abandoned using this library.