diff --git a/.github/autobump.txt b/.github/autobump.txt
index ced2d1eac84f..d5144ca30ebf 100644
--- a/.github/autobump.txt
+++ b/.github/autobump.txt
@@ -1291,6 +1291,7 @@ ocp
 ocrmypdf
 octave
 octomap
+ode
 odpi
 oh-my-posh
 oha
diff --git a/Formula/d/dartsim.rb b/Formula/d/dartsim.rb
index 0b74d8489302..cefa00c72eb0 100644
--- a/Formula/d/dartsim.rb
+++ b/Formula/d/dartsim.rb
@@ -4,16 +4,16 @@ class Dartsim < Formula
   url "https://github.com/dartsim/dart/archive/refs/tags/v6.13.2.tar.gz"
   sha256 "02699a8f807276231c80ffc5dbc3f66dc1c3612364340c91bcad63a837c01576"
   license "BSD-2-Clause"
-  revision 1
+  revision 2
 
   bottle do
-    sha256                               arm64_sonoma:   "7e58ee7403fa8282bab3d7bcfe4a881b596454b2627fde5debb2140b13a28b2e"
-    sha256                               arm64_ventura:  "1d903439ab275b9c45ca9a61e6a552308dfbb1da372255791d365a2b3568e3d4"
-    sha256                               arm64_monterey: "dca7316217b4d9d1a8f91f3539cad17341dab3be10cbe79c682b0261b1b728d5"
-    sha256                               sonoma:         "42482c0a49e733a42a92f7cf0a983215b7281583998cd9de6645af530dc0824e"
-    sha256                               ventura:        "c174550b79bef7c769a9cd841240deb254c3f49067aa217de935a62819898bd4"
-    sha256                               monterey:       "6811d8031a242b4041f780f255988b9e9101b433d1a0b67ee88e63ec5d3fe699"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "6a742d85cee365bcbfc461f435b634f788421910baa47fd7b7af53e019c2d44b"
+    sha256                               arm64_sonoma:   "10ca5813b09ead455c290e9fd83871dbaffd0de1a34b3f45a104d3d828a0b2cb"
+    sha256                               arm64_ventura:  "f8c4d4bbda7602bb7337f081f39ee7ae29c9ea5961108616013a8f802e704ade"
+    sha256                               arm64_monterey: "c8f4e0e7991e242d54154c5e0f68b376bc9e3103e97ceaa8e8f37f90cc6470bf"
+    sha256                               sonoma:         "760569333de1f0d7cef49fa036bbc124080a4d5d39ad4786464f9dcf0b9a2895"
+    sha256                               ventura:        "90df5bb0b62190120498f9043b50fe507ef6d9d42de44202cb7aaeec068577a4"
+    sha256                               monterey:       "6487d772bd684936310ea12334d9eda6b9f5bab0976089de0ede4a90c89adb32"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "44e973d9bf7aa7779f5bcbb5b29c724bbb01d2ac5b77620c1ec3d11e65d69ddc"
   end
 
   depends_on "cmake" => :build
diff --git a/Formula/o/ode.rb b/Formula/o/ode.rb
index 31b960c1f3d4..31f376bd8a6a 100644
--- a/Formula/o/ode.rb
+++ b/Formula/o/ode.rb
@@ -1,44 +1,36 @@
 class Ode < Formula
   desc "Simulating articulated rigid body dynamics"
   homepage "https://www.ode.org/"
-  url "https://bitbucket.org/odedevs/ode/downloads/ode-0.16.4.tar.gz"
-  sha256 "71037b8281c6c86b0a55729f90d5db697abe4cbec1d8118157e00d48ec253467"
+  url "https://bitbucket.org/odedevs/ode/downloads/ode-0.16.5.tar.gz"
+  sha256 "ba875edd164570958795eeaa70f14853bfc34cc9871f8adde8da47e12bd54679"
   license any_of: ["LGPL-2.1-or-later", "BSD-3-Clause"]
   head "https://bitbucket.org/odedevs/ode.git", branch: "master"
 
   bottle do
-    sha256 cellar: :any,                 arm64_sonoma:   "6cfb73fcdaa9bf73ecfd3763bcdf7d5a8ccd7639a0f9fe7a5da5067774b2f52a"
-    sha256 cellar: :any,                 arm64_ventura:  "0db659d5d8b9f5b0a8391e07bf6dce76c6528ee142ef64227d27cd108c14fe76"
-    sha256 cellar: :any,                 arm64_monterey: "2eb1e7ae85cec1e9d3686113190d8ec89fca460c58b81f3e978b20961d235cf6"
-    sha256 cellar: :any,                 arm64_big_sur:  "f4cb558f0e993040046a0400a5d6aa69bd4916d5cac25e45597f2b6b72cbdb83"
-    sha256 cellar: :any,                 sonoma:         "8220eec9e9f7cb97a01f3126ebf7f9365a98d9e02113e5bf98199cff3b65a4ba"
-    sha256 cellar: :any,                 ventura:        "e04a88ce07030af5f9f93f2bd035a4b89ea200a9d67a17ebd89c7ad5bc536565"
-    sha256 cellar: :any,                 monterey:       "af90730fce7e61597be9dd2132e985386a47e59dde6ba23a16c42d4e6a0d44f2"
-    sha256 cellar: :any,                 big_sur:        "21c78389a6a1999ea1c0a5deb90e779ae44cbe71affcc7b6c5ac5ce0d43af578"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "26dc057f117efea645ebf883369d7d48082b6a87a40443ad95e2d40f26d2ff48"
+    sha256 cellar: :any,                 arm64_sonoma:   "270ce81f43aed519ba13d83987b7506873cc60163d0f09b09e6b4cd64c4c62d2"
+    sha256 cellar: :any,                 arm64_ventura:  "26093d917736df12a0510654e0bc4d602d521a3c9c3dd09113401897f3acc317"
+    sha256 cellar: :any,                 arm64_monterey: "b1da27ab0578179b232494c19eca7908d8a77da515894be35c93baa001d913c7"
+    sha256 cellar: :any,                 sonoma:         "97d4f2c4c7e43015b3f5dffd884312f123818801e25f38a86e470d8a24e5f6b7"
+    sha256 cellar: :any,                 ventura:        "08c2d6e501581a2e3bf1bd7975f00912d632ced10673d0372dd55489b2328850"
+    sha256 cellar: :any,                 monterey:       "1d9407a8b74ce382bc76489d37f2b33e21830aae7b8dc11c2f9068190c022617"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "389509a9254588ea10f1e0d888d7ed487ed509de9a07fff79cdee31ed4c856d5"
   end
 
-  depends_on "autoconf" => :build
-  depends_on "automake" => :build
-  depends_on "libtool" => :build
-  depends_on "pkg-config" => :build
+  depends_on "cmake" => :build
   depends_on "libccd"
 
-  # Fix -flat_namespace being used on Big Sur and later.
-  # We patch `libtool.m4` and not `configure` because we call `./bootstrap`.
-  patch :DATA
+  on_linux do
+    depends_on "mesa"
+    depends_on "mesa-glu"
+  end
 
   def install
-    inreplace "bootstrap", "libtoolize", "glibtoolize"
-    system "./bootstrap"
+    args = []
+    args << "-DOPENGL_INCLUDE_DIR=#{Formula["mesa"].include}" if OS.linux?
 
-    system "./configure", "--prefix=#{prefix}",
-                          "--enable-libccd",
-                          "--enable-shared",
-                          "--disable-static",
-                          "--enable-double-precision"
-    system "make"
-    system "make", "install"
+    system "cmake", "-S", ".", "-B", "build", *args, *std_cmake_args
+    system "cmake", "--build", "build"
+    system "cmake", "--install", "build"
   end
 
   test do
@@ -56,30 +48,3 @@ def install
     system "./test"
   end
 end
-
-__END__
-diff --git a/m4/libtool.m4 b/m4/libtool.m4
-index 10ab284..bfc1d56 100644
---- a/m4/libtool.m4
-+++ b/m4/libtool.m4
-@@ -1067,16 +1067,11 @@ _LT_EOF
-       _lt_dar_allow_undefined='$wl-undefined ${wl}suppress' ;;
-     darwin1.*)
-       _lt_dar_allow_undefined='$wl-flat_namespace $wl-undefined ${wl}suppress' ;;
--    darwin*) # darwin 5.x on
--      # if running on 10.5 or later, the deployment target defaults
--      # to the OS version, if on x86, and 10.4, the deployment
--      # target defaults to 10.4. Don't you love it?
--      case ${MACOSX_DEPLOYMENT_TARGET-10.0},$host in
--	10.0,*86*-darwin8*|10.0,*-darwin[[91]]*)
--	  _lt_dar_allow_undefined='$wl-undefined ${wl}dynamic_lookup' ;;
--	10.[[012]][[,.]]*)
-+    darwin*)
-+      case ${MACOSX_DEPLOYMENT_TARGET},$host in
-+	10.[[012]],*|,*powerpc*)
- 	  _lt_dar_allow_undefined='$wl-flat_namespace $wl-undefined ${wl}suppress' ;;
--	10.*)
-+	*)
- 	  _lt_dar_allow_undefined='$wl-undefined ${wl}dynamic_lookup' ;;
-       esac
-     ;;
diff --git a/Formula/o/ompl.rb b/Formula/o/ompl.rb
index d866f0435d16..2bea86b3ff04 100644
--- a/Formula/o/ompl.rb
+++ b/Formula/o/ompl.rb
@@ -4,7 +4,7 @@ class Ompl < Formula
   url "https://github.com/ompl/ompl/archive/refs/tags/1.6.0.tar.gz"
   sha256 "f03daa95d2bbf1c21e91a38786242c245f4740f16aa9e9adbf7c7e0236e3c625"
   license "BSD-3-Clause"
-  revision 4
+  revision 5
   head "https://github.com/ompl/ompl.git", branch: "main"
 
   # We check the first-party download page because the "latest" GitHub release
@@ -15,13 +15,13 @@ class Ompl < Formula
   end
 
   bottle do
-    sha256 cellar: :any,                 arm64_sonoma:   "d9f4852f5de265f2a351b6ff01c0d05ddbd6a07f64ad2d19740ff1d527db60ef"
-    sha256 cellar: :any,                 arm64_ventura:  "386a395702cb33a1b36199a7c129f96beed786df8b69af4d208db15eb5c23033"
-    sha256 cellar: :any,                 arm64_monterey: "0599b6337a982419818b476e7eaf323e2eb128cae82e72cc1f3b296d59d6276a"
-    sha256 cellar: :any,                 sonoma:         "f0e9d80171808e0871f7fc3d1a2751f9a2ced8c420588c7f977e816df5e68c99"
-    sha256 cellar: :any,                 ventura:        "7599fcdff298949b167a1ff909f0b7fbbdd0031322941b3d17201cb0b1fadaff"
-    sha256 cellar: :any,                 monterey:       "5b677f83e756ee5ef7efcbc4cd978c9107f2c9e22b02d347cdc07413098e3e3f"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "4d3bd0c771cb40f051ca251ecca0a4ae8798fc1ef48825e541c21ba33bfb61f9"
+    sha256 cellar: :any,                 arm64_sonoma:   "3f8f8f022294172b2d74b13644d94bce058e0cf881b44a86c8df765cf8023467"
+    sha256 cellar: :any,                 arm64_ventura:  "47e21d41ad6cbe0f673fd07ad899e99d7515c70e4e7c4812cfcc4ca776f9b1b3"
+    sha256 cellar: :any,                 arm64_monterey: "e60d38140988aff917129b5d77bfaf9282ba7bc173ad13d6427f2a282373fafb"
+    sha256 cellar: :any,                 sonoma:         "21b5fa47779e98cc2d17a5ba9ce12c4441593fd9dce8b6c224b55f24f0d97e92"
+    sha256 cellar: :any,                 ventura:        "54f56154ea3dab3eface3119867c56cb6689d4920dead827b25170b8d1e071f2"
+    sha256 cellar: :any,                 monterey:       "2d5bf2748e5d9ce80dc9e9573abef784df41609cb4bde0236462196b58cf31bf"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "f775e98e4cdf61e19db76872ae97c4e089dbaadbed77898c550cfe2205dd704d"
   end
 
   depends_on "cmake" => :build