Irrlicht Engine

I tried to rewrite test_crash.cpp so that it can work with Irrlicht, but failed. I always get segfault.
Can anyone tell me where to get EASY tutorials on ODE? The tests are good, but they are TOO hard for a noob.
Thanks.

PS: Please, no flame about Newton vs ODE.
PS2: I already saw Bounce, it's NOT easy.

I'll be honest with you, there's no easy way to use ODE. I got quite a bit of functionality up and running with it, and I ended up just chucking it. Unless you're writing a game that specifically NEEDS spiffy physics like a driving sim, or some other physics intensive app, I wouldn't mess with it. If you're writing a RPG where you walk around, or a Quake style shooter, just getting the player entity moving around sensibly is an exercise in frustration. And if you're handling your collisions in ODE, you have to copy the geometry over manually, and the whole thing is just a pain in the arse.