I've build libode by compiling the latest sourceforge version.

With

$ nm /usr/local/lib/libode.so | grep LastTransform

I now get

00000000000c8880 r _ZZ28dGeomTriMeshGetLastTransformE12__FUNCTION__
00000000000c88a0 r _ZZ28dGeomTriMeshSetLastTransformE12__FUNCTION__
000000000006bc80 T dGeomTriMeshGetLastTransform
000000000006bcd0 T dGeomTriMeshSetLastTransform

also with

$ nm /usr/local/lib/libode.a | grep LastTransform

I correctly get

00000000000002a0 r _ZZ28dGeomTriMeshGetLastTransformE12__FUNCTION__
00000000000002c0 r _ZZ28dGeomTriMeshSetLastTransformE12__FUNCTION__
0000000000000720 T dGeomTriMeshGetLastTransform
0000000000000770 T dGeomTriMeshSetLastTransform

And now the example D program runs fine. So the error definitely lies on the 
side
of the libode packaged for Debian/Ubuntu.

-- 
symbol dGeomTriMeshGetLastTransform missing in libode
https://bugs.launchpad.net/bugs/129902
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