[ODE] Ways to contribute brainpower to ODE? (Higher order integrator?)

[Jordi]

> > How about cylinder-cylinder collisions including generating reasonable
> > contact points and depths?
>
> Absolutely. The part of ODE that needs the most work is the collision
> primitives, many of which are missing. This is the biggest hurdle for
> a 1.0 release.
>

Yes, as can be seen in this (yet incomplete) wiki page, a lot of work have to 
be done with collision primitives:
http://opende.sourceforge.net/wiki/index.php/Features


^^/
Jordi