Interesting... This one took a while to figure out. The ODE header files
default to #define dSINGLE (at the top of odeconfig.h).  It is odd that
the header file isn't just fixed to dDOUBLE - I can't see any real
advantages of being able to compile dSINGLE code against the headers
when the library is dDOUBLE, and linking against it will confuse people
with these odd errors. Anyway, try compiling with:

g++ $(ode-config --cflags) -o tutorial1 $(ode-config --libs) tutorial1.c

Incidentally, `ode--config --shared-libs` gives an error: 
/usr/bin/ld: cannot find -l...@so_ext@
Obviously it has not included the SONAME version that is supposed to have 
changed in this release.

-- 
Please update to ode-0.10.1 with double arithmetic
https://bugs.launchpad.net/bugs/303759
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