[ODE] Normalize matrix?

[Amund Børsand]

Hello,

Is there any ODE function to normalize a rotation matrix? I have a
problem where I rotate a rotation matrix incrementally several times,
and after a while roundoff errors ruins my object's dimensions.

In general it would be nice with an overview and maybe some quick
documentation over the math functions available in ODE, they are hard to
find by browsing the sources. I'm just trying to avoid rewriting too
many math functions which already exist in ODE.

-- 
Amund Børsand <amund £ offroad . no>