Jedive ODE Wrapper

' transfers the objects matrix into opengl ready for render
Function SetTransformMat(geom:Int)

	Local R:Float Ptr
	Local pos:Float Ptr 
	Local matrix:Float[16];

	pos =Float Ptr  dGeomGetPosition (geom);
	R = Float Ptr dGeomGetRotation (geom);

	matrix[0]=R[0];		matrix[1]=R[4];		matrix[2]=R[8];		matrix[3]=0;
	matrix[4]=R[1];		matrix[5]=R[5];		matrix[6]=R[9];		matrix[7]=0;
	matrix[8]=R[2];		matrix[9]=R[6];		matrix[10]=R[10];		matrix[11]=0;

	matrix[12]=pos[0];	matrix[13]=pos[1];	matrix[14]=pos[2];	matrix[15]=1;

	glMultMatrixf (matrix);

EndFunction

Function EulerRotateGeom(geom:Int,x:Float,y:Float,z:Float)
	glPushMatrix()
	glLoadIdentity()
	glRotatef x,1,0,0
	glRotatef y,0,1,0
	glRotatef z,0,0,1
	SetTransformMat(Geom)
	Local m:Float[16]
	Local m2:Float[16]
	glGetFloatv(GL_MODELVIEW_MATRIX,Varptr m[0])
	m2[0]=m[0];			m2[1]=m[4];		m2[2]=m[8];			m2[3]=m[12]
	m2[4]=m[1];			m2[5]=m[5];		m2[6]=m[9];			m2[7]=m[13]
	m2[8]=m[2];			m2[9]=m[6];		m2[10]=m[10];		m2[11]=m[14]
	m2[12]=0;			m2[13]=0;		m2[14]=0;			m2[15]=1
	dGeomSetRotation(geom,Varptr m2[0])
	glPopMatrix()
End Function

Thanks Chris! This seems to be the blitzmax/opengl code you refer to that performs quat to euler. Is it a bit like the void AnglesFromMatrix C++ routine above?

Nice work btw, although I can't understand it :)