Hi I tried compiling testchain2.cpp from the turorials with mingw, but I get load of linker errors: [Linker error] undefined reference to `dGeomGetBody' ,etc,etc I assume I need to link a lib, but I don't know what. What am I doing wrong? Cheers

You need to link in the ODE library, naturally. For a release build that is ode.lib and for a debug build that is oded.lib. It may be the case that you need to compile these libraries as well and additionally set up your project such that it can find and use the library.

Greetz,

Illco