Contents 1. Introduction 1.1. Features 1.2. ODE's License 1.3. The ODE Community 2. How to Install and Use ODE 2.1. Installing ODE 2.1.1. Building and Running ODE Tests on MacOS X 2.2. Using ODE 3. Concepts 3.1. Background 3.2. Rigid bodies 3.2.1. Islands and Disabled Bodies 3.3. Integration 3.4. Force accumulators 3.5. Joints and constraints 3.6. Joint groups 3.7. Joint error and the error reduct