> ODE's matrices have 3 rows, not 4. also, ODE matrices may contain > doubles whereas OpenGL matrices contain singles. so some kind of > setTransform() function is needed. yes, but you're also transposing the rotation part of the matrix. Again: 0 4 8 12 0 1 2 12 1 5 9 13 into 4 5 6 13 2 6 10 14 8 9 10 14 3 7 11 15 3 7 11 15 this is not just type conversion or the 3->4 rows issue. Why do you transpose? Marco