[ODE] XYZ Axis Orientation and 0 degrees

[Paul Carrington]

I'm new to ODE and I'm hoping someone can help me understand ODE's XYZ
Axis orientation and direction of 0 degrees

Studying some of the samples I see that Z is used as the UP vector

I was hoping to ...

1) pass (x,y,z) euler angles from my own graphics engine into ODE 
2) after setting the objects position and rotation, let ODE do it's amazing stuff
3) pluck the ODE object's (x,y,z) euler angles back into my graphics engine

..position works no problem (as long as I swap the up axis's) but something is
going very wrong with the euler angles on the x,y,z axis's

To help explain, here is a 'jpg link' that shows how my engine uses the x, y, and z
axis's and where 0 degrees begins

http://www.vulcan.co.uk/artwork/xyz.jpg

Can someone provide me with a similar graphic image that explains how ODE
treats the x,y and z axis's (or an explanation) :)

thanks
Paul Carrington
Vulcan Software Ltd.
http://www.vulcan.co.uk