[ODE] Delphi again

[Mattias Fagerlund]

Hey!

(I forgot to mention, but I love ODE, great work!)

* I figured out what was wrong with my rotation implementation - I was 
accessing mass.i as it was a 4x3 array, but I was supposed to access it 
like it's a 3x4 array? Why is dMatrix3 defined as 

typedef dReal dMatrix3[4*3];

instead of a two dimensional matrix? Kinda confusing.

Why is dVector3 the same size as dVector4?

As in
typedef dReal dVector3[4];
typedef dReal dVector4[4];

cheers,
m