[ODE] Changing the 3D coordinate system to left-handed

[Michal Bacik]

Hi all,
I noticed ODE uses right-handed coord system (Z pointing up), while I'm used
to left-handed one (Y pointing up).

Is there some switch in header files swapping the Y and Z axes?

Optionally I could treat the system as left-handed (setting gravitation
to -Y axis instead of -Z), but I suppose this would break collision
functions, or other parts of system.

Any idea?
Thanks

- Michal