[ODE] 4x3 -> 4x4

[James Arthur]

On Thu, 12 Aug 2004 12:34:29 +0300, Emre Ugur
<emre.ugur at ceng.metu.edu.tr> wrote:
> I am using Vortex and ODE. In ODE, rotation is defined in 4x3 matrix. In
> Vortex transformation is defined in 4x4 matrix. Is there any direct mapping
> between them?

ODE's mapping is:
 1  2  3  4
 5  6  7  8
 9 10 11 12

Vortex may use:
 1  2  3  4
 5  6  7  8
 9 10 11 12
13 14 15 16

Or it may use the OpenGL-style:
 1  5  9 13
 2  6 10 14
 3  7 11 15
 4  8 12 16

In both cases, 16=1.0 and <13,14,15> is the translation vector <x,y,z>
(or <0,0,0> if there's no translation).

James