[ODE] Matrices

Tony Peguero Tony.Peguero at xtra.co.nz
Fri May 31 06:40:02 2002

Hi all.
I want to create a version of the dBodyGetAngularVel function that returns
the vector in body space rather than world space. However, I'm not so hot on
matrix math. I notice that many of the dBody functions use the
dMULTIPLY0_331 macro to convert a vector from body space to world space.
What should I do to convert in the other direction?
Thanks in advance.