ok, since ODE physic's commands aren't documented, I'm going to compile a list with your help. So if you know what one does, post it here and i'll update the list:
Here's a list of the commands contained within the ODE DLL -
01 ODE START
02 ODE UPDATE
03 ODE SET WORLD GRAVITY x#, y#, z#
04 ODE SET WORLD ERP value#
05 ODE SET WORLD CFM value#
06 ODE SET WORLD STEP step#
07 ODE SET WORLD QUICK STEP NUM ITERATIONS value
08 ODE SET STEP MODE mode
09 ODE END
10 ODE CREATE STATIC SPHERE object
11 ODE CREATE STATIC BOX object
12 ODE CREATE STATIC TRIANGLE MESH object
13 ODE CREATE DYNAMIC SPHERE object
14 ODE CREATE DYNAMIC BOX object
15 ODE CREATE DYNAMIC BOX object
16 ODE CREATE DYNAMIC TRIANGLE MESH object
17 ODE CREATE DYNAMIC CYLINDER object
18 ODE CREATE STATIC UNIVERSE
19 ODE DESTROY OBJECT object
20 ODE SET LINEAR VELOCITY object, x#, y#, z#
21 ODE SET ANGULAR VELOCITY object, x#, y#, z#
22 ODE SET BODY ROTATION object, x#, y#, z#
23 ODE SET BODY MASS object, mass#
24 ODE SET GRAVITY object, mode
25 ODE SETSURFACE MODE object, mode, state
26 ODE SETSURFACE MODE CONTACT MU2 object, state
27 ODE SETSURFACE MODE CONTACT BOUNCE object, state
28 ODE SETSURFACE MODE CONTACT SOFT ERP object, state
29 ODE SETSURFACE MODE CONTACT SOFT CFM object, state
30 ODE SETSURFACE MODE CONTACT MOTION1 object, state
31 ODE SETSURFACE MODE CONTACT MOTION2 object, state
32 ODE SETSURFACE MODE CONTACT SLIP1 object, state
33 ODE SETSURFACE MODE CONTACT SLIP2 object, state
34 ODE SETSURFACE MODE CONTACT APPROX0 object, state
35 ODE SETSURFACE MODE CONTACT APPROX11 object, state
36 ODE SETSURFACE MODE CONTACT APPROX12 object, state
37 ODE SETSURFACE MODE CONTACT APPROX1 object, state
38 ODE SET CONTACT object, mode, value#
39 ODE SET CONTACT MU2 object, value#
40 ODE SET CONTACT FDIR1 object, value#
41 ODE SET CONTACT BOUNCE object, value#
42 ODE SET CONTACT VELOCITY object, value#
43 ODE SET CONTACT SOFT ERP object, value#
44 ODE SET CONTACT SOFT CFM object, value#
45 ODE SET CONTACT MOTION1 object, value#
46 ODE SET CONTACT MOTION2 object, value#
47 ODE SET CONTACT SLIP1 object, value#
48 ODE SET CONTACT SLIP2 object, value#
49 value = ODE COLLISION MESSAGE EXISTS
50 ODE COLLISION GET MESSAGE
51 value = ODE GET OBJECT A
52 value = ODE GET OBJECT B
53 value# = ODE GET OBJECT A VELOCITY X
54 value# = ODE GET OBJECT A VELOCITY Y
55 value# = ODE GET OBJECT A VELOCITY Z
56 value# = ODE GET OBJECT B VELOCITY X
57 value# = ODE GET OBJECT B VELOCITY Y
58 value# = ODE GET OBJECT B VELOCITY Z
59 value# = ODE GET BODY LINEAR VELOCITY X
60 value# = ODE GET BODY LINEAR VELOCITY Y
61 value# = ODE GET BODY LINEAR VELOCITY Z
62 value# = ODE GET OBJECT A ANGULAR VELOCITY X
63 value# = ODE GET OBJECT A ANGULAR VELOCITY Y
64 value# = ODE GET OBJECT A ANGULAR VELOCITY Z
65 value# = ODE GET OBJECT B ANGULAR VELOCITY X
66 value# = ODE GET OBJECT B ANGULAR VELOCITY Y
67 value# = ODE GET OBJECT B ANGULAR VELOCITY Z
68 ODE ADD FORCE object, x#, y#, z#, x1#, y1#, z1#
69 value# = ODE GET BODY HEIGHT object
70 value# = ODE GET BODY ADJUSTMENT X object
71 value# = ODE GET BODY ADJUSTMENT Y object
72 value# = ODE GET BODY ADJUSTMENT Z object
73 ODE SET RESPONSE object, mode
74 value# = ODE GET OBJECT A CONTACT
75 value# = ODE GET OBJECT B CONTACT
you job is to pick a command on this list and give both an explanation and the what each parameter is and what exactly the value is that it returns.
