regarding the ode integration in the "non game" part of blender, I started a long time ago some work to create a C module - using python and importing this module it's possible to create animations with physics calculated by ode.
An example movie in my old post:
My work stopped because I wanted write access to the object matrix, tried an euler->matrix conversion function didn't work.
I think it would be really simple now to complete this job making the object matrix writable from python - this would make physics driven animations possible in blender very soon.
I'll post my old source code if anybody is interested.
General discussion about the development of the open source Blender
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