[ODE] Normalize matrix?

[Martin C. Martin]

 > Is there any ODE function to normalize a rotation matrix?

Convert it to a quaternion and back again.  Even better, do all your 
rotation math with quaternions.  I think that's what ODE does internally.

 > In general it would be nice with an overview and maybe some quick
 > documentation over the math functions available in ODE

That would be great.  In the mean time, try browsing the header files, 
e.g. rotation.h

- Martin