I don want to/can get the makefile working with Microsoft Visual C++. How do I compile ODE?
Basically, you create a project, tweak some of the options for the config.h header, add all the cpp files in ode/src/ (except for a few that cause problems) into the project, include the drawstuff files, add all necessary include directories, add opengl32.lib and glu32.lib to the link line, and compile. Detailed instructions can be found in the Building ODE with MSVC6 section.