This is a ball colliding with an unseen surface, using ODE and OpenGL. Took a lot of time to get my head around ODE because there are no good tutorials or simpler sources to learn from.
You need to install the following(Ubuntu)
sudo apt-get install freeglut3-dev sudo apt-get install libode-dev
For other OSs install ODE by source, I’d recommend you to keep on to gcc.
g++ -o ball ogl.cc -DdDOUBLE -lGL -lGLU -lglut -lode