[ODE] Help needed

[Umberto]

Hi all,
I'm new to ODE and I need some help.
I want to compile example source files, but I can't do it. I'm using MSVC6.
I read the user guide, faq and documentation on Wiki area, but I still 
can't understand how to compile the files.
I guess I did something wrong, so I'm telling you step by step what I did:

1. I downloaded these archive files:
ode-bin-040421-msvc-SINGLE-debug-trimesh.zip
ode-bin-040421-msvc-DOUBLE-debug-notrimesh.zip
ode-040428.tar.gz (sources of example files are only in the 3rd file)

First question: which archive file do I need to compile examples?

2. I unzipped the the 3rd archive file in "C:\ode-040428\" archive files

3. I compiled ODE as explained in the file INSTALL (in "C:\ode-040428\") 
and in the file ReadMe (in VC6 directory). Then I installed it, adding 
include and lib directories in MSVC6.
I compiled ODE with this user-settings:
PLATFORM=msvc
#PRECISION=SINGLE
PRECISION=DOUBLE
BUILD=debug
#BUILD=release
WINDOWS16=0
OPCODE_DIRECTORY=OPCODE

3. In MSVC I added "C:\ode-040428\ode\lib" to the library dir; 
"C:\ode-040428\ode\include" and "C:\ode-040428\ode\opcode" to the include 
dir. I think this is sufficient to install the library

4. I created a new win32 application named test1

5. I added opengl32.lib and glu32.lib in Object\Library modules of Project 
settings->Link

6. I added these files to the project:
- test_buggy.cpp from "C:\ode-040427\ode\test\"
- all .cpp and .c files from "C:\ode-040427\ode\src\", except from 
scrapbook.cpp and stack.cpp
- drawstuff.cpp, windows.cpp and resources.rc from 
"C:\ode-040427\drawstuff\src\"

7. Finally I built the project and this is what I got:
--------------------Configuration: test1 - Win32 Debug--------------------
Compiling...
collision_trimesh.cpp
C:\ode-040428\ode\src\collision_trimesh.cpp(36) : error C2065: 'g' : 
undeclared identifier
C:\ode-040428\ode\src\collision_trimesh.cpp(145) : warning C4244: '=' : 
conversion from 'double' to 'float', possible loss of data
C:\ode-040428\ode\src\collision_trimesh.cpp(341) : warning C4291: 'void 
*__cdecl dBase::operator new(unsigned int)' : no matching operator delete 
found; memory will not be freed if initialization throws an exception
         c:\ode-040428\ode\src\objects.h(49) : see declaration of 'new'
Error executing cl.exe.

test1.exe - 1 error(s), 2 warning(s)


Could somebody please explain to me where I'm wrong and what I have to do 
step by step?
Thanx a lot in advance