This is a set of bindings for the Open Dynamics Engine. It also includes the scripts I used to generate the bindings. The scripts/conventions are heavily "borrowed" from clipmunk, CFFI binding to the Chipmunk physics engine (thanks, fred-o =]).
There are different branches in this project representing which release of ODE it's wrapping. The current and most recent is 0.12.
I made it easy for people with POSIX-type systems (unix, linux, cygwin, etc) to regenerate the bindings for themselves:
cd /path/to/cl-ode
./generate/generate [/path/to/ode-install [infinity precision]]
The ODE install path defaults to /usr/local/ode, and the infinity precision defaults to :single (other possible value is :double). See below for infinity notes.
There is one caveat. Common Lisp does not have a standard value for "infinity" which is part of ODE. What this means is it's nearly impossible to come up with a cross- implementation way of representing the infinity value while mapping it to the ODE internals portably.
What's more is ODE can be compiled with single or double precision, making the infinity value yet even more complicated.
So while the bindings let you specify whether you use :single or :double precision, it doesn't mean your implementation will play nicely with ODE via CFFI. For instance, the Clozure CL single float infinity value 1E++0 maps exactly to (float)(1.0 / 0.0) in C. In SBCL, sending sb-ext:single-float-positive-infinity to a C function results in a divide by zero. Not sure if there is a way around this, I don't use SBCL much.
The best solution, if you even need infinity, is probably for you to compile ODE with -DINFINITY=[your val] and update the "infinity" function in bindings.lisp to return this value.