[ODE] which Euler angle convention is used in ODE?

[Jacek Mazurkiewicz]

I need to transfer the ODE output to the external graphics. Therefore, let
me ask two fundamental questions:

1) which Euler angle convention is used in ODE? From dRFromEulerAngles it
looks like body three : 3-2-1, but I'd like to ask for confirmation or
correction.

2) is the rotation about the x axis (for example) is defined in ODE as (R*
column vector), or as (row vector * R matrix)?

Best Regards,
Jacek
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