[ODE] rotation matrix from normalized vector?

[Fig TaTam]

Is there a way to convert a normalized vector into rotation matrix?

Here's what I'm trying to do:
I got dBody, and I want to store several possible points on which force can 
be applied, relative to the body. I want to store the force vector, relative 
to that body. Then I want to position another body at the point where force 
is applied. And I want the rotation of that other body to be dependent on 
the orienation of the force vector.





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