what can I say - ode is almost everything I wanted! 3d physics and graphics in java! The ode->xinth transform is slightly buggy and unfinished (no support for all high level geoms - at least in 0.2 as well as some weird visual sphere deformation issues), however otherwise works perfectly for my needs.
Now we just need to add soft-body and liquid physics into ODE and into odejava and then I'll definitely get everything I'll ever want for a while!
Keep up the good work!