[ODE] Controlling a sphere

[Svenne Nilsson]

Hi!

I am having trouble controlling a sphere with a joypad.
When I steer left and right on the pad I want the sphere to turn around the 
worlds y-axis (+y is up) and when i push forward and back I want the sphere 
to roll, or reverse around the spheres own x-axis (+x is right).  It seems 
like a simple problem to me, but I can't seem to get it to work.

dBodyAddTorque(bodyid, 0.0f, steerrate, 0.0f) works fine rotating left & 
right, but I guess I need to rotate the vector for moving forward and back, 
and I can't seem to get the math correct.
dBodyAddTourque(bodyid, speed, 0.0f, 0.0f) obviously always moves the ball 
in the world z-direction, dBodyAddRelTourque(bodyid, speed, 0.0f, 0.0f) 
doesn't work either because the local x-axis of the sphere can be in any 
direction depending on rotation and so on.
If anyone can point me in the right direction or have implemented something 
similar and would like to help me I'd be very happy....

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