[ODE] ODE Matrices

Jon Watte (ODE) hplus-ode at mindcontrol.org
Wed Jul 18 08:50:55 MST 2007

The matrix is the inverse order of the OpenGL or DirectX matrices in 
memory. Note that three of the elements are junk, and should not be used 
(elements 3, 7 and 11).

Btw: http://www.mindcontrol.org/~hplus/graphics/matrix-layout.html


          / h+

Nicholas wrote:
> Hello,
> I'm trying to rotate a vector with the rotation matrix from  
> dBodyGetRotation which returns a dReal*. The only documentation about  
> it is that it returns a 4x3 rotation matrix. It is not said how the  
> elements of the matrix are stored in memory. I tried various methods  
> by trial and error, but I cannot seem to get the expected output.  
> Does anybody have any experience on this?
> Thanks.
> Nicholas
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