[ODE] Rotation matrix - setting euler, etc.

[Gussimulator]

Hi, I've nailed the Y and Z rotation problems but I'm still getting problems with the pitch (would be X).
Are there any good source examples that would suit ODE's needs?, I need to be able to convert from euler to rotation matrix and vice versa. Im able to do this but ODE doesnt seem to like my rotation matrix, its giving wrong rotations all the time!.

Thanks
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