[ODE] Re: Torque: Bug in 0.025, apparently fixed in CVS

[Ruud van Gaal]

...
> To follow up on myself, I got a brainwave; the initial matrix is 4x3, but
> should only use the 3x3 components ofcourse. Still, I tried modifying R[11]
> to 1 instead of 0, making it *look* like some homogenous form (although the
> would have to be at R[15] then actually). And lo and behold, when R[11]
> starts out as 1, the result is correct!

Correction! An error on my part. Ofcourse I had reinstalled the Rt matrix in 
the ODE src, so that's why it worked. R[11] is ignored in the calculations. 
I'll stop digging for this and let Russ find out what is going on between 
v0.025 and the new CVS source.

Cheers,
Ruud