[ODE] ODE Matrices

[Nicholas]

Hello,

I'm trying to rotate a vector with the rotation matrix from  
dBodyGetRotation which returns a dReal*. The only documentation about  
it is that it returns a 4x3 rotation matrix. It is not said how the  
elements of the matrix are stored in memory. I tried various methods  
by trial and error, but I cannot seem to get the expected output.  
Does anybody have any experience on this?

Thanks.
Nicholas