ubODE / ODE physics installation for OpenSim:
Update 11/25/2015: ODE / OpenDyanamics engine instructions have been updated to reflect the following changes to OpenSim 9.0 after the merging of code. If you are still looking for the original instructions feel free to click here. as of 11/26/2015 a massive update to the ODE physics called ubODE was introduced to many of the OpenSim environments. Making it run better then bullet on slower machines such as the Pi.