OdeMax

Here's a tweaked version of the included example:

Strict

Import ".\libode.a" 
Import ".\libodemax.a"

Incbin "wcrate.jpg"
Incbin "ground.bmp"
 
Global ScreenWidth:Float	= 800
Global ScreenHeight:Float	= 600
Global ScreenDepth:Int		= 32
Global FullScreen:Int		= 1

Global Texname,texname2

Global lastspace
Global light:Int=True									' Lighting ON/OFF
Global blend:Int									' Blending ON/OFF
Global xrot:Float									' X Rotation
Global yrot:Float									' Y Rotation
Global lookupdown:Float=0.0
Global heading:Float=0.0
Global xpos:Float=0.0
Global zpos:Float=0.0

Global LightAmbient:Float[]=[0.8, 0.8, 0.8, 1.0]		' Ambient Light
Global LightDiffuse:Float[]=[1.0, 1.0, 1.0, 1.0]		' Diffuse Light
Global LightPosition:Float[]=[0.0, 2.0, 1.0, 1.0]	' Light Position

Global FPS,lfc,fc   ' frame counter since app start
Global s:String=""

Global OdeEntList:tList = CreateList()

Global selectbuffer:Int[512],hits
Global SelectedName,lastselected:odeent
Global viewport:Int[4]

Global world,space,plane,boxbody,boxgeom,mass:Int[1024],boxsize:Float=0.1
Global lms:Int=MilliSecs()

Const MaxOdeEnts=50

include "ode-defs.bmx"

'
' Setup display
Local ScreenFlags = BGL_BACKBUFFER | BGL_DEPTHBUFFER
If FullScreen
	ScreenFlags = ScreenFlags | BGL_FULLSCREEN
EndIf
bglCreateContext(ScreenWidth,ScreenHeight,ScreenDepth,0,ScreenFlags)
bglSetSwapInterval(1)

InitGl()

'
' Create ODE world
world=dworldcreate()
dWorldSetGravity (world, 0,-9.81,0)
space = dHashSpaceCreate (0);
plane=dCreatePlane (space,0,1,0,0);

'
' Create ODE boxes
For Local i:Float=1 To MaxOdeEnts/2	
	OdeEnt.createBox(world,space,i, 0.1,(i Mod 4-2)/4, (i / 4), -1)
Next
For Local i:Float=1 To MaxOdeEnts/2			' 2 loops name param must be created sequentially
	OdeEnt.createBox(world,space,i+MaxOdeEnts/2, 0.1,(i Mod 4-2.5)/4, (i / 4), -1.25)
Next

OMinitcontacts(world)


While Not KeyHit( KEY_ESCAPE )
	
	'
	' Update ODE
	omEmptyContactGroup()
	dSpaceCollide (space,Null, Byte Ptr omnearCallback);
	dWorldStep (world,0.01)
	
	'
	' Render and stuff
	glEnable(GL_TEXTURE_2D)
	DisplayLoop()
	glDisable(GL_TEXTURE_2D)
	glColor3f 1.0,1.0,1.0
	
	Local y=0

	If MilliSecs()>lms+1000 Then
		lms=MilliSecs()
		FPS=(fc-lfc)
		lfc=fc
	EndIf
	s = "#FPS: "+FPS
	s:+"##Use mouse to look around"
	s:+"#WASD/Arrow Keys to move"
	s:+"#Left click to select#"
	If lastselected
		s:+"#Selection: "+lastselected.name+"#"
	EndIf
	
	Local f=Instr(s,"#",1)
	Repeat 
		Local l:String= Left(s,f-1)
		s= Right(s,Len(s)-f)
		bglDrawText(l,10,y)
		y:+12
		f=Instr(s,"#",1)
	Until f=0
		
	FlushMem
	bglSwapBuffers
	fc:+1
Wend
End

'
' transfers the objects matrix into opengl ready to render
Function SetTransformMat(geom:Int)

	Local R:Float Ptr
	Local pos:Float Ptr 
	Local matrix:Float[16];

	pos =Float Ptr  dGeomGetPosition (geom);
	R = Float Ptr dGeomGetRotation (geom);

	matrix[0]=R[0];		matrix[1]=R[4];		matrix[2]=R[8];		matrix[3]=0;
	matrix[4]=R[1];		matrix[5]=R[5];		matrix[6]=R[9];		matrix[7]=0;
	matrix[8]=R[2];		matrix[9]=R[6];		matrix[10]=R[10];		matrix[11]=0;

	matrix[12]=pos[0];	matrix[13]=pos[1];	matrix[14]=pos[2];	matrix[15]=1;

	glMultMatrixf (matrix);

EndFunction

Function InitGl()
'''''' initial setup of gl
	Local tex:TPixmap=LoadPixmap("incbin::wcrate.jpg")
	texname=bglTexFromPixmap(tex)
	texname2=bglTexFromPixmap(LoadPixmap("incbin::ground.bmp"))

	glBindTexture GL_TEXTURE_2D, Texname2
	glTexParameteri GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR
	glTexParameteri GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_NEAREST

	glBindTexture GL_TEXTURE_2D, Texname
	glTexParameteri GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR
	glTexParameteri GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_NEAREST

	glEnable GL_TEXTURE_2D
	glBlendFunc GL_SRC_ALPHA, GL_ONE
	glClearColor(0.4, 0.4, 0.4, 0.0)
	glClearDepth 1.0
	glDepthFunc GL_LESS
	glEnable GL_DEPTH_TEST
	glShadeModel(GL_SMOOTH)
	
	glViewport(0,0,ScreenWidth,ScreenHeight)
	glMatrixMode(GL_PROJECTION)
	glLoadIdentity()
	gluPerspective(45.0,Float(ScreenWidth)/Float(ScreenHeight),0.1,100.0)
	glMatrixMode(GL_MODELVIEW)
	
	glLightfv GL_LIGHT0, GL_AMBIENT, Float Ptr LightAmbient
	glLightfv GL_LIGHT0, GL_DIFFUSE, Float Ptr LightDiffuse
	glLightfv GL_LIGHT0, GL_POSITION, Float Ptr LightPosition
	glEnable GL_LIGHT0
End Function

Function DisplayLoop()

	Local x_m:Float; Local y_m:Float; Local z_m:Float; Local u_m:Float ; Local v_m:Float
	Local xtrans:Float; Local ztrans:Float; Local ytrans:Float
	Local sceneroty:Float
	Local loop_m:Int

	'
	' Blend mode
	If KeyHit(KEY_B)
		blend = Not blend
	EndIf
	If blend = 0 Then
		glDisable GL_BLEND
		glEnable GL_DEPTH_TEST
	Else
		glEnable GL_BLEND
		glDisable GL_DEPTH_TEST
	End If
	
	'
	' Lighting
	If KeyHit(KEY_L) 
		light = Not light
	EndIf
	If light=0
		glDisable(GL_LIGHTING)
	Else
		glEnable(GL_LIGHTING)
	EndIf
 
 	'
 	' Movement
	If KeyDown(KEY_UP) Or KeyDown(KEY_W)
		xpos = xpos - Float(Sin(heading)) * 0.01
		zpos = zpos - Float(Cos(heading)) * 0.01
	End If
	If KeyDown(KEY_DOWN) Or KeyDown(KEY_S)
		xpos = xpos + Float(Sin(heading)) * 0.01
		zpos = zpos + Float(Cos(heading)) * 0.01
	End If
	If KeyDown(KEY_LEFT) Or KeyDown(KEY_A)
		xpos = xpos - Float(Sin(heading+90)) * 0.01
		zpos = zpos - Float(Cos(heading+90)) * 0.01
	EndIf
	If KeyDown(KEY_RIGHT) Or KeyDown(KEY_D)
		xpos = xpos + Float(Sin(heading+90)) * 0.01
		zpos = zpos + Float(Cos(heading+90)) * 0.01
	EndIf
	
	yrot = heading
		
	xtrans=-xpos
	ztrans=-zpos
	ytrans= - 0.5
	sceneroty = 360.0 - yrot
	glClear GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT

	lookupdown=lookupdown+(MouseY()-(ScreenHeight/2.0))/8
	heading=heading-(MouseX()-(Screenwidth/2.0))/8
	MoveMouse screenwidth/2,screenheight/2


	'
	' ---- Picking ----
	'
	glSelectBuffer(512,Varptr selectBuffer[0]);

	glRenderMode(GL_SELECT)	
	glInitNames();	
	glGetIntegerv(GL_VIEWPORT, viewport);

	glMatrixMode(GL_PROJECTION);			
	glPushMatrix();						
	glLoadIdentity();
	gluPickMatrix(ScreenWidth/2.0, ScreenHeight/2.0, 1, 1, viewport);

	gluPerspective(45.0,Float(ScreenWidth)/Float(ScreenHeight),0.1,100.0)
	glMatrixMode(GL_MODELVIEW);

	glLoadIdentity
	glRotatef lookupdown, 1.0, 0, 0
	glRotatef sceneroty, 0, 1.0, 0
	glTranslatef xtrans, ytrans, ztrans

	glBindTexture GL_TEXTURE_2D, Texname2

	Local i=1
	For Local e:odeent=EachIn OdeEntlist
		glPushName(i)
		i:+1
		glPushMatrix()
		SetTransformMat(e.geom)
		drawbox([e.size,e.size,e.size])	
		glPopName()
		glPopMatrix()
	Next
	
	glFlush();			
	hits=glRenderMode(GL_RENDER);

	glMatrixMode(GL_PROJECTION);			
	glPopMatrix();								
	glMatrixMode(GL_MODELVIEW);	
	glColor4f 1.0,1.0,1.0,1.0

	If hits>0 Then processhits(hits,Varptr selectBuffer[0])
	'
	' ---- End of picking ----
	'


	'
	' Render code
	glLoadIdentity
	glRotatef lookupdown, 1.0, 0, 0
	glRotatef sceneroty, 0, 1.0, 0
	glTranslatef xtrans, ytrans, ztrans
	glBindTexture GL_TEXTURE_2D, Texname2

	glColor4f 1.0,1.0,1.0,1.0

	'
	' ground - not rendered in pick selection render
	glDisable(GL_LIGHTING)
	glBegin(GL_QUADS)
	glNormal3f( 0.0, -1.0, 0.0)';// Normal Pointing Up
	glTexCoord2f(0.0, 0.0); glVertex3f(-10,  0, -10)';// Point 1 (Top)
	glTexCoord2f(0.0, 10); glVertex3f(-10,  0,  10)';// Point 2 (Top)
	glTexCoord2f(10, 10); glVertex3f( 10,  0,  10)';// Point 3 (Top)
	glTexCoord2f(10, 0.0); glVertex3f( 10,  0, -10)';// Point 4 (Top)
	glEnd()
	glEnable(GL_LIGHTING)

	glBindTexture GL_TEXTURE_2D, Texname

	'
	' boxes
	Local se:odeent
	glBindTexture GL_TEXTURE_2D, Texname
	For Local e:odeent=EachIn OdeEntlist

		glPushMatrix()
		SetTransformMat(e.geom)
		If selectedname=e.name Then 
			glDisable(GL_LIGHTING)
			glColor4f 1.0,0.0,0.0,1.0 
			se=e
		ElseIf e.state
			glDisable(GL_LIGHTING)
			glColor4f 0.0,1.0,0.0,1.0
		Else
			glColor4f 1.0,1.0,1.0,1.0
		EndIf

		drawbox([e.size,e.size,e.size])	

		If selectedname=e.name Or e.state=True Then 
			glEnable(GL_LIGHTING)
		EndIf

		glPopMatrix()
	Next
	
	'
	' Change selection
	If MouseHit(1) And lastspace Then 
		If lastselected
			lastselected.state=False
		EndIf
		If se
			se.state=Not se.state
			lastselected=se
			lastspace=False
			Local fx:Float = Sin(heading)* -1000.0
			Local fy:Float = 0.0
			Local fz:Float = Cos(heading)* -1000.0
			dbodyaddforce(se.body,fx,fy,fz)
		EndIf
	EndIf
	If Not MouseHit(1) Then lastspace=True
	selectedname=0

End Function

Function DrawBox(sides:Float[])
	
	Local lx:Float = sides[0]*0.5;
	Local ly:Float = sides[1]*0.5;
	Local lz:Float = sides[2]*0.5;

	glBegin(GL_QUADS);
		
		' Front Face
		glNormal3f( 0.0, 0.0, 1.0) ' Normal Pointing Towards Viewer
		glTexCoord2f(0.0, 0.0); glVertex3f(-lx, -ly,  lz) ' Point 1 (Front)
		glTexCoord2f(1.0, 0.0); glVertex3f( lx, -ly,  lz) ' Point 2 (Front)
		glTexCoord2f(1.0, 1.0); glVertex3f( lx,  ly,  lz) ' Point 3 (Front)
		glTexCoord2f(0.0, 1.0); glVertex3f(-lx,  ly,  lz) ' Point 4 (Front)
 		
 		' Back Face
		glNormal3f( 0.0, 0.0,-1.0) ' Normal Pointing Away From Viewer
		glTexCoord2f(1.0, 0.0); glVertex3f(-lx, -ly, -lz) ' Point 1 (Back)
		glTexCoord2f(1.0, 1.0); glVertex3f(-lx,  ly, -lz) ' Point 2 (Back)
		glTexCoord2f(0.0, 1.0); glVertex3f( lx,  ly, -lz) ' Point 3 (Back)
		glTexCoord2f(0.0, 0.0); glVertex3f( lx, -ly, -lz) ' Point 4 (Back)
		
		' Top Face
		glNormal3f( 0.0, 1.0, 0.0) ' Normal Pointing Up
		glTexCoord2f(0.0, 1.0); glVertex3f(-lx,  ly, -lz) ' Point 1 (Top)
		glTexCoord2f(0.0, 0.0); glVertex3f(-lx,  ly,  lz) ' Point 2 (Top)
		glTexCoord2f(1.0, 0.0); glVertex3f( lx,  ly,  lz) ' Point 3 (Top)
		glTexCoord2f(1.0, 1.0); glVertex3f( lx,  ly, -lz) ' Point 4 (Top)
		
		' Bottom Face
		glNormal3f( 0.0,-1.0, 0.0) ' Normal Pointing Down
		glTexCoord2f(1.0, 1.0); glVertex3f(-lx, -ly, -lz) ' Point 1 (Bottom)
		glTexCoord2f(0.0, 1.0); glVertex3f( lx, -ly, -lz) ' Point 2 (Bottom)
		glTexCoord2f(0.0, 0.0); glVertex3f( lx, -ly,  lz) ' Point 3 (Bottom)
		glTexCoord2f(1.0, 0.0); glVertex3f(-lx, -ly,  lz) ' Point 4 (Bottom)
		
		' Right face
		glNormal3f( 1.0, 0.0, 0.0) ' Normal Pointing Right
		glTexCoord2f(1.0, 0.0); glVertex3f( lx, -ly, -lz) ' Point 1 (Right)
		glTexCoord2f(1.0, 1.0); glVertex3f( lx,  ly, -lz) ' Point 2 (Right)
		glTexCoord2f(0.0, 1.0); glVertex3f( lx,  ly,  lz) ' Point 3 (Right)
		glTexCoord2f(0.0, 0.0); glVertex3f( lx, -ly,  lz) ' Point 4 (Right)
		
		' Left Face
		glNormal3f(-1.0, 0.0, 0.0) ' Normal Pointing Left
		glTexCoord2f(0.0, 0.0); glVertex3f(-lx, -ly, -lz) ' Point 1 (Left)
		glTexCoord2f(1.0, 0.0); glVertex3f(-lx, -ly,  lz) ' Point 2 (Left)
		glTexCoord2f(1.0, 1.0); glVertex3f(-lx,  ly,  lz) ' Point 3 (Left)
		glTexCoord2f(0.0, 1.0); glVertex3f(-lx,  ly, -lz) ' Point 4 (Left)
	glEnd() ' Done Drawing Quads
	
EndFunction

Function processhits:String(hits:Int,sb:Int Ptr)

	Local low:Float
	Local ply:Int=Var (sb+3)

	low=Var (sb+1)

	For Local x=0 To hits-1
		Local p=Var sb
		sb:+1
		Local d1:Float=Var sb
		sb:+1
		Local d2:Float=Var sb
		sb:+1
		If ((d1+d2)/2) < low Then 
			low=((d1+d2)/2)
			ply=Var sb
		End If
		For Local n=1 To p
			sb:+1
		Next
	Next

	selectedname=ply
	
End Function

It should work in debug mode now :) and clicking on a box will push it away from the camera.

Still, you should not run it in windowed mode, unless you use this fix: http://www.blitzbasic.com/Community/posts.php?topic=43206 or the view will be twirling like mad.