There's a demo avialable to try out. For docs I've got my initial tute which includes a basic primitives setup 'engine'. It'll be a while before more docs appear from me though :(
The ODE docs provide the glut of info you need. For ODE specifics most been covered here, or just ask.
The ODE docs provide the glut of info you need. For ODE specifics most been covered here, or just ask.