Thomas Suter updated his Irrlicht Engine ODE tutorial to make it work with the new engine version. The irrlicht.sf.net copy of this tutorial is now updated too. Also, there is a completely new external tutorial available: Mercior wrote one, showing how to use Irrlicht with a new physics engine named ‘newton game dynamics’.
This means the engine seems to work now with three popular physics engines: ODE, Tokamak and Newton. Links to all tutorials are available in the tutorial section.