Please see http://odejava.dev.java.net
This project has comprehensive Java API for ODE, it is almost one to one to ODE's C++ class.
Four demos included using Xith3d, jME and console (no rendered).
Below is a small intro on what to do with the demos:
-change simulations by pressing 1,2 or 3. Keys q,w,e,a,s,d change box sizes (select new simulation after this). Mouse drag with left mouse button adds some spin to boxes and plain left click to bottom or top of the screen gives big force to last object (try it with tower simulation as all boxes are connected to each other using ODE's joints).
-you can try to drive around with a,d,w,s keys. b is handbrake (on/off) and keys 1,2,3 change the camera position. Space resets the simulation. Ode's parameters are bit hairy, fix if you want.
-runs console based test with couple objects falling to a ground, with no rendered attached to it, so this is a bit dull demo.
-help is displayed inside the application
Linux and MacOS binaries are also available separately but we have not yet integrated these to the release file.