[ODE] Problem with Geom's rotation matrix

[Nguyen Binh]

Hi Martin,

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

     I use the rotation matrix of geom (R variable).

     Nguyen Binh