[ODE] rotate an object

[Roel van Dijk]

> how does he rotate an object for some degrees?
I don't think I understand your question. But if you want to know how to set 
the rotation of an ODE body or geom:
void dBodySetRotation (dBodyID, const dMatrix3 R);
void dGeomSetRotation (dGeomID, const dMatrix3 R);

But you shouldn't use these functions in a running simulation. They are only 
to initialise objects before the simulation starts. Using these functions in 
a running simulation can cause unpredictable behaviour. 

If you want to rotate a body in a simulation do it by applying forces:
http://opende.sourceforge.net/ode-latest-userguide.html#ref40

You can find a lot more info in the ODE documentation:
http://opende.sourceforge.net/ode-docs.html