[ODE] Problem with Geom's rotation matrix

[Martin C. Martin]

Nguyen Binh wrote:

>      The root of problem is
>      this rotation matrix is convert from quaternion and didn't get
>      "normalized".

Was the quaternion normalized?  Quaternions can only represent 
normalized rotation matrices.  If you convert a quaternion to a rotation 
matrix, and the rotation matrix isn't orthonormal, there's a problem 
with the conversion function.  Are you using the conversion function 
built into ODE?

- Martin