Latest

• Here is the latest ODE user guide, and here it is in PDF format.
• Some more helpful information is available from the ODE Wiki area, a community-supported website.
• Here is the user guide for version 0.5.
• ODE tutorial.
• Here is the 0.5 user guide translated into Russian by Tatarincev Denis Urievich.

Related Books

• Robot Simulation - Robot Programming with Open Dynamics Engine (Japanese).

• Here is a short implementors guide for creating new joints in ODE (PDF format).
• In the book "Game Gems 4", the chapter "3.4: Constraints in Rigid Body Dynamics" is a tutorial on creating new joints for ODE.

Older Stuff

• Here is the user guide for version 0.039.
• Here is the last user guide that describes ODE's old collision API. ODE's collision system had a major change around 7/Nov/2002. The API of the new code is 99% compatible with the old ... however, some legacy applications may rely on subtle details of the old system.
• Here is a porting guide for moving code from ODE's old collision system to the new system.