[ODE] problems with a cylinder

[Filami Filami]

I just don't undestand this object (but I realy need it)....

I'm making a pong clone using 3D tecnology. For that I have 5 planes to 
define the game area, a sphere for the ball and I want to add 2 cylinders to 
make the pads.
Firstly I don't know how to create such object...I've tried hard but the 
rotation of the object isn't good...nothing goo indead....If it would be 
possible to see some source code using tis would be gread...notice that I'm 
using the y axis up...
Secondly, is the user who will move this object. I don't know how such 
things are done in ODE. Making simulations is not too hard but interaging 
with objects is some kind confusing bacause Smith says that is not a good 
idea to override the position and velocity of objects. BTW, such objects 
must react as unlaying objects...how can we make that in ODE? When a ball 
hits a plane, the plane does not move...how we can do the same for the 
cylinder so the velocity of cylinder interfears with the final velocity of 
sphere BUT the cylinder is not moved by that colision...

Thanks in advance :)
Filami

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