[ODE] converting opengl matrices to ODE positions. or something!

[Dan]

Hi this is my first post/email so I hope i'm doing it right...

I've coded a simple-ish 3D engine with a sort of scene graph structure
with each node having an opengl matrix which stores the info about
translation/rotation/scaling. Now I am trying to incorperate ODE into
this.

Now I would like to keep my original functions for translation etc
(upon the matrix) as they are relatively simple.

How would I convert the values needed for ODE position/rotating into
an opengl matrix and vice versa - to get an opengl matrix from ODE
data etc...

Or is there a better solution, would I be better off dropping the
opengl functions and just using the ODE functions. Although I would
still need to make some conversion from the ode-get-position-rotation
functions to find the opengl matrix needed to draw the objects.

I hope you understand what i'm getting at. Any help or advice will be
much appreciated!
Thanks.