so a while back I messed with ode because i was going to impliment it in my engine, its been about a month so i dont have the compile command in my terminal history and i forgot specificly what i used to compile it but here is the code

#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#include <string.h>
#include <iostream>

#ifdef dDOUBLE
#define dsDrawSphere dsDrawSphereD
#endif

using namespace std;
const int VertexCount = 5;
const int IndexCount = 12;

static dVector3 Size;
static float Vertices[VertexCount][3];
static dTriIndex Indices[IndexCount];

static dJointGroupID contactgroup;
//static int flag = 0;
dsFunctions fn;


const double   radius = 0.2;
const double   mass   = 1.0;

struct cworld
{
 int numobjects;
 dSpaceID space;
 dWorldID world;
};

struct object
{
 string name;
 string type;
 const double *position;
 const double *rotation;
 dBodyID body;
 dGeomID geom;
 dMass mass;
};
cworld world;

object objects[10];
//object objects[0];
//object objects[1];
//object objects[3];

static void nearCallback(void *data, dGeomID o1, dGeomID o2)
{
  const int N = 10;
  dContact contact[N];
  int n;

  for(int i = 0; i <= world.numobjects; i++)
     {
      n =  dCollide(o1,o2,N,&contact[0].geom,sizeof(dContact));
      if(n >= 1)                                   //object hit somthing
        {
         if(objects[i].geom == o1)
           {
            //cout << objects[i].type << endl;
            for(int j = 0; j <= world.numobjects; j++)
               {
                if(objects[j].geom == o2)
                  {
                   cout << objects[j].name << " is hitting a " << objects[j].name << endl;
                  }  
               }
           }
         }
     }

    for(int i = 0; i < n; i++) 
       {
        contact[i].surface.mode = dContactBounce;
        contact[i].surface.mu   = dInfinity;
        contact[i].surface.bounce     = 0.0; // (0.0~1.0) restitution parameter
        contact[i].surface.bounce_vel = 0.0; // minimum incoming velocity for bounce
        dJointID c = dJointCreateContact(world.world,contactgroup,&contact[i]);
        dJointAttach (c,dGeomGetBody(contact[i].geom.g1),dGeomGetBody(contact[i].geom.g2));
       }

}


static void simLoop (int pause)
{
  //flag = 0;
  dSpaceCollide(world.space,0,&nearCallback);

  dWorldStep(world.world,0.01);

  dJointGroupEmpty(contactgroup);

  /*if(flag == 0) 
    dsSetColor(1.0, 0.0, 0.0);
  else           
      dsSetColor(0.0, 0.0, 1.0);*/
                                   
  objects[0].position = dBodyGetPosition(objects[0].body);
  objects[0].rotation   = dBodyGetRotation(objects[0].body);
  dsDrawSphere(objects[0].position,objects[0].rotation,radius);

  objects[1].position = dBodyGetPosition(objects[1].body);
  objects[1].rotation   = dBodyGetRotation(objects[1].body);
  dsDrawSphere(objects[1].position,objects[1].rotation,radius);
}

void start()
{
  static float xyz[3] = {0.0,-3.0,1.0};
  static float hpr[3] = {90.0,0.0,0.0};
  dsSetViewpoint (xyz,hpr);
}

void  prepDrawStuff() {
  fn.version = DS_VERSION;
  fn.start   = &start;
  fn.step    = &simLoop;
  fn.command = NULL;
  fn.stop    = NULL;
  fn.path_to_textures = "../../drawstuff/textures";
}

int main (int argc, char *argv[])
{
  double x0 = 0.0, y0 = 0.0, z0 = 2.0;


  prepDrawStuff();

  dInitODE();
  world.world = dWorldCreate();
  world.space = dHashSpaceCreate(0);
  contactgroup = dJointGroupCreate(0);

  dWorldSetGravity(world.world,0,0,-0.5);
  //Create a trimesh
  Size[0] = 5.0f;
  Size[1] = 5.0f;
  Size[2] = 2.5f;
  
  Vertices[0][0] = -Size[0];
  Vertices[0][1] = -Size[1];
  Vertices[0][2] = Size[2];
  
  Vertices[1][0] = Size[0];
  Vertices[1][1] = -Size[1];
  Vertices[1][2] = Size[2];
  
  Vertices[2][0] = Size[0];
  Vertices[2][1] = Size[1];
  Vertices[2][2] = Size[2];
  
  Vertices[3][0] = -Size[0];
  Vertices[3][1] = Size[1];
  Vertices[3][2] = Size[2];
  
  Vertices[4][0] = 0;
  Vertices[4][1] = 0;
  Vertices[4][2] = 0;
  
  Indices[0] = 0;
  Indices[1] = 1;
  Indices[2] = 4;
  
  Indices[3] = 1;
  Indices[4] = 2;
  Indices[5] = 4;
  
  Indices[6] = 2;
  Indices[7] = 3;
  Indices[8] = 4;
  
  Indices[9] = 3;
  Indices[10] = 0;
  Indices[11] = 4;

  dTriMeshDataID Data = dGeomTriMeshDataCreate();
  //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
  dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  objects[4].geom = dCreateTriMesh(world.space, Data, 0, 0, 0);
  dGeomSetPosition(objects[4].geom, 0, 0, 0.0);
  objects[4].type = "world";
  objects[4].name = "crappy sky";
  world.numobjects = world.numobjects + 1;

  // Create a ground
  objects[3].geom = dCreatePlane(world.space,0,0,1,0);
  objects[3].type = "ground";
  objects[3].name = "ground(duh)";
  world.numobjects = world.numobjects + 1;

  // Create objects[0]
  objects[0].type = "sphere";
  objects[0].name = "ball1";
  objects[0].body = dBodyCreate(world.world);
  dMassSetZero(&objects[0].mass);
  dMassSetSphereTotal(&objects[0].mass,mass,radius);
  dBodySetMass(objects[0].body,&objects[0].mass);
  dBodySetPosition(objects[0].body, x0, y0, z0);
  objects[0].geom = dCreateSphere(world.space,radius);
  dGeomSetBody(objects[0].geom,objects[0].body);
  dBodySetLinearVel(objects[0].body, 1.0, 0.0,1.0); 
  world.numobjects = world.numobjects + 1;

  //Create objects[1]
  objects[1].type = "sphere";
  objects[1].name = "ball2";
  objects[1].body = dBodyCreate(world.world);
  dMassSetZero(&objects[1].mass);
  dMassSetSphereTotal(&objects[1].mass,mass,radius);
  dBodySetMass(objects[1].body,&objects[1].mass);
  dBodySetPosition(objects[1].body, -1.0, y0, 3.0);
  objects[1].geom = dCreateSphere(world.space,radius);
  dGeomSetBody(objects[1].geom,objects[1].body);
  world.numobjects = world.numobjects + 1;



  dsSimulationLoop (argc,argv,352,288,&fn);

  dWorldDestroy (world.world);
  dCloseODE();

  return 0;
}

here is the output :

sample6.cpp: In function ‘void simLoop(int)’:
sample6.cpp:102:57: error: cannot convert ‘const dReal* {aka const float*}’ to ‘const double*’ in assignment
sample6.cpp:103:59: error: cannot convert ‘const dReal* {aka const float*}’ to ‘const double*’ in assignment
sample6.cpp:104:62: error: cannot convert ‘const double*’ to ‘const float*’ for argument ‘1’ to ‘void dsDrawSphere(const float*, const float*, float)’
sample6.cpp:106:57: error: cannot convert ‘const dReal* {aka const float*}’ to ‘const double*’ in assignment
sample6.cpp:107:59: error: cannot convert ‘const dReal* {aka const float*}’ to ‘const double*’ in assignment
sample6.cpp:108:62: error: cannot convert ‘const double*’ to ‘const float*’ for argument ‘1’ to ‘void dsDrawSphere(const float*, const float*, float)’

when I fix these errors and run it I get a zero inertia runtime error

now I remember this code compiling and running fine. So I must be compiling it wrong (I bet its somthing stupid I simply forgot)

have any idea?