> The angular velocity that's returned from dBodyGetAngularVelocity(), > it's expressed in the world coordinate frame, not the body's coordinate > frame, right? i.e. an angular velocity of (1, 0, 0) is rotation about > the world x axis, not about the body's x axis, right? yes. all vectors in ODE should be world-relative, except where otherwise state in the docs. russ. -- Russell Smith http://www.q12.org