Last time I worked with Raylib and ODE it was showing how to do vehicles, there were a number of things I wasn't completely happy with, code separation could have been better and there were a bunch of globals.
While working on rag dolls I took a major detour to improve my code, and there have been some significant improvements.
There are many more .c files (units of compilation) and I've done away with the globals, usually when working on one aspect of the project now it almost never impacts other areas, a much easier code base to work on!
Geoms in my lightweight renderer (it makes no attempt to be efficient!) can now have independent textures and UV scaling.
I ripped rlights.h in two and gave it a proper .c I really don't like these headers where you have to define an implementation define in one .c file - they are usually a pain to work with in the end especially on more complex projects
The joins are motos so, the rag dolls are ready for you to experiment with neural networks !
Anyway I hope someone finds this useful
you can find the code here: https://github.com/chriscamacho/RayLibOdeRagDoll
Enjoy