Hello,
please be patient for replies

if you want quickier help, joining irc channel #crystalspace on freenode server might be better.
As for ODE tutorials, check ODE website:
http://www.ode.org/ode-docs.htmlTo get a feeling about how to use ODE in CS apps, check
phystut source code in
CS/apps/tutorial/phystut/.
Now with CEL, there are the
pcmechsys and
pcmechobject property classes.
Check the
mechtest source code in
cel/apps/mechtest/.