[ODE] rotation matrix

[pia dalusong]

hello,

first of all thanks for replying.  i tried to pass the
values to the dMatrix3 the same way in the
setTransform function in the drawstuff.cpp file. 
unfortunately, my mobot is heading towards the
opposite direction now. what i did was this :

	 const dReal *mobot_pos;
	 const dReal *mobot_rot;
mobot_rot = dBodyGetRotation (mobot.chassis.body);
mobot_pos = dBodyGetPosition (mobot.chassis.body);
	 mobotdata.rota[0]=mobot_rot[0];
	 mobotdata.rota[1]=mobot_rot[4];
	 mobotdata.rota[2]=mobot_rot[8];
	 mobotdata.rota[3]=0;
	 mobotdata.rota[4]=mobot_rot[1];
	 mobotdata.rota[5]=mobot_rot[5];
	 mobotdata.rota[6]=mobot_rot[9];
	 mobotdata.rota[7]=0;
	 mobotdata.rota[8]=mobot_rot[2];
	 mobotdata.rota[9]=mobot_rot[6];
	 mobotdata.rota[10]=mobot_rot[10];
	 mobotdata.rota[11]=0;

i also tried this

         mobotdata.rota[0]=mobot_rot[0];
 	 mobotdata.rota[1]=mobot_rot[1];
	 mobotdata.rota[2]=mobot_rot[2];
	 mobotdata.rota[3]=mobot_rot[3];
	 mobotdata.rota[4]=mobot_rot[4];
	 mobotdata.rota[5]=mobot_rot[5];
	 mobotdata.rota[6]=mobot_rot[6];
	 mobotdata.rota[7]=mobot_rot[7];
	 mobotdata.rota[8]=mobot_rot[8];
	 mobotdata.rota[9]=mobot_rot[9];
	 mobotdata.rota[10]=mobot_rot[10];
	 mobotdata.rota[11]=mobot_rot[11];

and the mobot went 90 degrees away from the rotation
it was suppose to have.  
it only works when the values are 
1 0 0 0
0 1 0 0
0 0 1 0

and that's it.

what else can i do?

pia


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