This (450k) is the closest I got, and to be honest I think I am still a bit green on doing physic simulations... or rather, I haven't taken the time to learn about how it works under the hood, I asked for help on the ODE mailing list and got no replies (something rather normal there to be honest), and well, I figured it's just not worth it.
I came to ODE looking for a solution for my collision detection problems, and I learned a lot about it while doing so, and I am gratefull for that, so, I am moving the couple of functions I wrote into FreeSOLID and maybe later I will consider finally adding FreeSOLID support into ODE.
For now, I am just Ranting, oh and I found FATE, a very interesting free tabletop RPG I am sort of implementing for my engine, that oughta keep me busy for a while [smile].
Cheers! (only one week and a day left!)