I'll post the source code up and you can compile it yourself. It should work under linux.
I've added a CFM if 0 and ERP of 0.8 to the world with no effect. There doesn't seem to be a way of setting these parameters for fixed joints.
I'll post the exe (it's a windows exe sorry, my linux partition is not working at the moment)
http://www.pgd.netstarweb.com/files/201/odetest.zip
The controls are
Mouse to look around
Arrow Keys to move the camera left right forward backwards
Space to apply forwad thrust.
Key Pad keys
4 & 6 thrust left right
8 & 2 thrust down and up
7 and 9 roll left and right
I've upped the forst a bit so done hold the space bar down too long otherwise the stuff will go off into the distance and the camera won't be able to catch up..
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