(CL-)ODE or other physics engines & CCL ?

hi,

I'd like to hear from anyone who is using a decent physics engine with
CCL or MCL. I'm thinking about building an application that will need
fairly accurate physics simulation, for design of robots and other
mechatronic devices. My first thought was ODE; but it's not clear how
alive that project is, and/or what's entailed in getting it to work with
CCL.

Anyone?

Mark

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