Am I right in thinking that ODE does not follow an object orientated
ODE is object orientated. They just provide a C interface to it so that it can be used without a c++ dependancy.
I wanted to do collision like http://citeseer.csail.mit.edu/cache/papers/cs/1044/ftp:zSzzSzftp.cs.unc.eduzSzpubzSzuserszSzgottschazSzobbt.pdf/gottschalk96obbtree.pdf
ODE is based around this paper http://delivery.acm.org/10.1145/200000/192168/p23-baraff.pdf?key1=192168&key2=9026338211&coll=GUIDE&dl=GUIDE&CFID=54369181&CFTOKEN=36983520
I hope you can access them. It might be that I have access becuase my uni is a subscriber. Let me know.
William is right, you don't want your graphics functionality with your physics engine. To link the graphical functionality to the physics engine you need each graphical representation to be hanging of a transform group. After the physics engine has done a timestep you update all transform groups with the new positional information extracted from the physics engine model. Thats about it really.
PS if you are implementing a collision system then seperate that as well from the rigid body functionality, and then erm, contribute it to us! Or join the team.