[ODE] examples, and debug render

[Chris Hunt]

I've just started with ODE, and have two questions:

1 - Are there any example demos with source?  I see mention of them here 
and there, but cannot find any for the life of me.
2 - Is there some kind of debug render function?  in physX, newton, 
tokamak they all have some kind of function for rendering a wireframe of 
all the collision primitives, joints, etc.  All I can find is that 
DrawStuff thing, which is built in, so I'd have to hack that out of the 
source so I can use my own renderer, which would be crude with a capial C.