[ODE] How is dQuaternion/dMatrix3 layed out?

[Roland Plüss]

I tried now adding angular velocity to my test setup. Now this does not
work at all. Although dBodyGetAngularVel tells me that there is no
angular velocity ( in the case of a straight falling box with on initial
angular velocity ), which is correct, I still get a box tossing and
tumbling around. I tried first using the quaternion version but there
things did not work too. Now how exactly is your system layed out so I
can match mine to it?

My Matrix looks like this internally ( World View style matrix with
indices on the right side ):
[ right.x | up.x | view.x | pos.x ] => [ 0, 1, 2, 3 ]
[ right.y | up.y | view.y | pos.y ] => [ 4, 5, 6, 7 ]
[ right.z | up.z | view.z | pos.z ] => [ 8, 9, 10, 11 ]
[ 0       | 0    | 0      | 1     ] => [ 12, 13, 14, 15 ]

And my Quaternion looks like this internally:
[ x | y | z | w ] => [ 0, 1, 2, 3 ]

How does the internal structure and meaning of a dMatrix3 or dQuaternion
look like compared to this notation?

-- 

Leader and Head Programmer
- Game: Epsylon ( http://epsylon.rptd.dnsalias.net/ )
- Game Engine: Drag(en)gine (
http://epsylon.rptd.dnsalias.net/dragengine.php )
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http://epsylon.rptd.dnsalias.net/denormgen.php )

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