diff --git a/devel/ode/Makefile b/devel/ode/Makefile
index d3ddd1ccf2e3..46d7aec22ba5 100644
--- a/devel/ode/Makefile
+++ b/devel/ode/Makefile
@@ -1,11 +1,10 @@
 # Created by: David Yeske <dyeske@yahoo.com>
 
 PORTNAME=	ode
-PORTVERSION=	0.13
-PORTREVISION=	4
+DISTVERSION=	0.16.2
 PORTEPOCH=	1
 CATEGORIES=	devel
-MASTER_SITES=	SF/opende/ODE/${PORTVERSION}
+MASTER_SITES=	https://bitbucket.org/odedevs/ode/downloads/
 
 MAINTAINER=	acm@FreeBSD.org
 COMMENT=	Articulated rigid body dynamics library
@@ -13,11 +12,10 @@ COMMENT=	Articulated rigid body dynamics library
 LICENSE=	LGPL21 BSD3CLAUSE
 LICENSE_COMB=	dual
 
-USES=		gl tar:bzip2 libtool pathfix
-USE_GL=		yes
-GNU_CONFIGURE=	yes
-CONFIGURE_ARGS=	--enable-shared
-TEST_TARGET=	check
+USES=		cmake:insource # https://bitbucket.org/odedevs/ode/issues/73/0162-fails-with-out-of-source-build
+
+CMAKE_ON=	ODE_WITH_LIBCCD # ODE_WITH_LIBCCD_SYSTEM fails: https://bitbucket.org/odedevs/ode/issues/75/0162-fails-when-both-ode_with_libccd
+CMAKE_OFF=	ODE_WITH_DEMOS ODE_WITH_TESTS
 
 OPTIONS_DEFINE=		GIMPACT DOUBLE OU
 
@@ -25,10 +23,9 @@ GIMPACT_DESC=		Enable gimpact instead of opcode support
 DOUBLE_DESC=		Enable double precision (BROKEN with GIMPACT)
 OU_DESC=		Enable Thread-local storage (Experimental)
 
-GIMPACT_CONFIGURE_ON=	--with-trimesh=gimpact
-GIMPACT_CONFIGURE_OFF=	--with-trimesh=opcode
-DOUBLE_CONFIGURE_ENABLE=	double-precision
-OU_CONFIGURE_ENABLE=		ou
+GIMPACT_CMAKE_BOOL=	ODE_WITH_GIMPACT
+DOUBLE_CMAKE_BOOL=	ODE_DOUBLE_PRECISION
+OU_CMAKE_BOOL=		ODE_WITH_OU
 
 .include <bsd.port.options.mk>
 
@@ -36,19 +33,10 @@ OU_CONFIGURE_ENABLE=		ou
 IGNORE=		currently double precision is not supported by gimpact
 .endif
 
-post-patch:
-	@${REINPLACE_CMD} -e '/if test/ s|==|=|' -e 's|^\( *CFLAGS=\)|#\1|;' \
-		-e 's|^\( *CPPFLAGS=\)|#\1|' -e 's|^\( *CXXFLAGS=\)|#\1|' \
-		-e 's|CPPFLAGS+=" |CPPFLAGS="$$CPPFLAGS |' \
-		${WRKSRC}/configure
-	@${FIND} ${WRKSRC} -type f -name Makefile.in -print0 | ${XARGS} -0 ${REINPLACE_CMD} \
-		-e '/^DEFAULT_INCLUDES/ s|$$| -I$$(top_builddir)/include|' \
-		-e '/CFLAGS/ s|-O[12]||'
-	@${REINPLACE_CMD} 's|<malloc.h>|<stdlib.h>|g' \
-		${WRKSRC}/build/config-default.h ${WRKSRC}/ou/src/ou/malloc.cpp
-
-post-install:
-	${SED} -e '/PACKAGE/ s|^|//|; /VERSION/ s|^|//|' ${WRKSRC}/ode/src/config.h \
-		> ${STAGEDIR}${PREFIX}/include/ode/config.h
+do-test: # tests fail to build: https://bitbucket.org/odedevs/ode/issues/76/tests-fail-to-build-cannot-open-output
+	@cd ${BUILD_WRKSRC} && \
+		${SETENV} ${CONFIGURE_ENV} ${CMAKE_BIN} ${CMAKE_ARGS} -DODE_WITH_TESTS:BOOL=ON ${CMAKE_SOURCE_PATH} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} ${ALL_TARGET} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} test
 
 .include <bsd.port.mk>
diff --git a/devel/ode/distinfo b/devel/ode/distinfo
index 4679824956d8..1565b01342df 100644
--- a/devel/ode/distinfo
+++ b/devel/ode/distinfo
@@ -1,2 +1,3 @@
-SHA256 (ode-0.13.tar.bz2) = 34ce3e236e313bf109a0cb5546d2fca462aed99f29a42e62bc1463b803c31ef9
-SIZE (ode-0.13.tar.bz2) = 2008288
+TIMESTAMP = 1618563350
+SHA256 (ode-0.16.2.tar.gz) = b26aebdcb015e2d89720ef48e0cb2e8a3ca77915f89d853893e7cc861f810f22
+SIZE (ode-0.16.2.tar.gz) = 2627992
diff --git a/devel/ode/pkg-descr b/devel/ode/pkg-descr
index 3c0bfc1fc169..7518dd965c05 100644
--- a/devel/ode/pkg-descr
+++ b/devel/ode/pkg-descr
@@ -4,4 +4,4 @@ and moving objects in VR environments. It is fast, flexible, robust
 and platform independent, with advanced joints, contact with friction,
 and built-in collision detection.
 
-WWW: http://www.ode.org/
+WWW: https://www.ode.org/
diff --git a/devel/ode/pkg-plist b/devel/ode/pkg-plist
index 6956b591ec05..ec840b633c84 100644
--- a/devel/ode/pkg-plist
+++ b/devel/ode/pkg-plist
@@ -4,12 +4,13 @@ include/ode/collision_space.h
 include/ode/collision_trimesh.h
 include/ode/common.h
 include/ode/compatibility.h
-include/ode/config.h
 include/ode/contact.h
+include/ode/cooperative.h
 include/ode/error.h
 include/ode/export-dif.h
 include/ode/mass.h
 include/ode/matrix.h
+include/ode/matrix_coop.h
 include/ode/memory.h
 include/ode/misc.h
 include/ode/objects.h
@@ -25,8 +26,11 @@ include/ode/rotation.h
 include/ode/threading.h
 include/ode/threading_impl.h
 include/ode/timer.h
-lib/libode.a
+include/ode/version.h
+lib/cmake/ode-0.16.2/ode-config-version.cmake
+lib/cmake/ode-0.16.2/ode-config.cmake
+lib/cmake/ode-0.16.2/ode-export-%%CMAKE_BUILD_TYPE%%.cmake
+lib/cmake/ode-0.16.2/ode-export.cmake
 lib/libode.so
-lib/libode.so.3
-lib/libode.so.3.1.0
+lib/libode.so.0.16.2
 libdata/pkgconfig/ode.pc
diff --git a/devel/ode/files/patch-config.h.cmake.in b/devel/ode/files/patch-config.h.cmake.in
new file mode 100644
index 000000000000..4e1350843a8e
--- /dev/null
+++ b/devel/ode/files/patch-config.h.cmake.in
@@ -0,0 +1,11 @@
+--- config.h.cmake.in.orig	2021-04-16 09:01:20 UTC
++++ config.h.cmake.in
+@@ -67,7 +67,7 @@
+ #define ODE_PLATFORM_PS3
+ #elif defined(_MSC_VER) || defined(__CYGWIN32__) || defined(__MINGW32__)
+ #define ODE_PLATFORM_WINDOWS
+-#elif defined(__linux__)
++#elif defined(__linux__) || defined(__FreeBSD__)
+ #define ODE_PLATFORM_LINUX
+ #elif defined(__APPLE__) && defined(__MACH__)
+ #define ODE_PLATFORM_OSX