[ODE] Re: Mapping to OpenGL axis system

[Russ Smith]

> So I'm convinced that dBodyAddRelTorque() needs to multiply using the
> transposed (inverted) matrix instead of the body's R matrix directly, 

hmmm - looked at the code - dBodyAddRelTorque() takes a body-frame
vector and multiplies it by R (not R^T) to get the world frame vector.
this is the correct behavior i think. multiplication by R^T would go
from the world frame to the body frame - but the force/torque
accumulators are in world coordinates.

russ.

--
Russell Smith
http://www.q12.org