I was to open a thread to talk against ODE... however that's a bit useless, so I prefer to open a new thread giving an alternative.
The most interesting, from my side, is Bullet Physics Library
http://www.bulletphysics.com/mediawiki-1.5.8/index.php?title=Main_Page .
There is only one "issue": missing "Continuous collision detection in the physics loop " but if really needed can be used the equivalent of ode directly from bullet (is prepared to use it).
The list of features is really impressive(yes, cylinders are full supported) and bullet is being used by all kind of applications, even commercial games for next-gen videogame consoles.
And it's Zlib licensed (so, free software).
Your opinions, please.