I'll make a ticket with the patch - the svn repo was that linked to on the wiki page and the revision was as per yesterday afternoon (r32752).
I'm actually using this library independently of gazebo, for a physics plugin for OpenRAVE. I have found OpenRAVE to be a much more flexible and generally nicer environment to work in for our simulation requirements than Gazebo, especially for automated testing and trying out new ideas on the fly.
I have had some problems integrating parallel_quickstep in with the standard ros macros in the CMakeLists.txt. If I specify the package dependancies in my manifest.xml and then use the standard rosbuild_add_library() macro, it compiles fine, but segfaults on execution somewhere deep in the ode collision handling. However, if I do all the flags and linking manually in the CMakeLists.txt, it works fine. I'll look into this further to make sure I'm not doing something silly before considering opening a separate ticket.