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ODE tutorials

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Okay, I'm trying to develop a game using the Open Dynamics Engine in C++. I really need some tutorials because I don't want to look through all the uncommented tests in the SRC builds to learn how to use ODE. The "ODE user guide" is horrible for me, I can't get through it at all. The only tutorial I could find was in Python, and that could only bring me as far as making bodies in worlds and applying gravity. The tutorial I found was here in case anyone is interested. http://pyode.sourceforge.net/ Does anyone know of a website that walks you through how to use ODE... in C or any other language that's at C or Java level? I really need some help, I've been tearing my hair out trying to port the code form Python to C, let alone, trying to figure out how to use ODE

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