I don't know what has changed since 0.039, since the project's ChangeLog
does not contain any release information. At least, the old version didn't
work for me.
ODE is a free, industrial quality library for simulating articulated
rigid body dynamics - for example ground vehicles, legged creatures,
and moving objects in VR environments. It is fast, flexible, robust
and platform independent, with advanced joints, contact with friction,
and built-in collision detection.