[ODE] On torque ..

[Wenzel Jakob]

Hi,

I am implementing a program with several "agents" using simple steering
algorithms (seek, follow, flee) in 3d space using ODE for
physics and collision detection. Everything has worked
quite well so far, but now I am stuck with a problem:

Every body/agent in the simulation has a local coordinate system
(a forward, up and side vector).

I am trying to write a function which takes
a body and a "new" forward vector