[ODE] Car turning problem.

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Hi.
Ive been experimenting with ode and tried to make a vehicle but ran into a 
problem which has haunted me for a few days now.
I have looked through the buggy example and the demo from flipcode to copy 
their behaviours but turning the front wheels has
proven trickier than i thought. I should mention that im using y as the up 
axis and not z as the examples (I convert it though).

I would really appreciate if someone could take a look in my vehicle.cpp 
(and maybe world.cpp) and see what im doing wrong.

The source can be found at:
http://hem.bredband.net/johgly/test.zip

need glut? (for the temporary wireframe bounding boxes)
http://hem.bredband.net/johgly/gl.zip

/Mace