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There's a number of differences between Qt and ODE that can be a real pain in the butt. ODE's screen coordinate origin is at the bottom-left of the screen (or world)... which I guess kinda makes sense for physics coordinates that want to model themselves after the real world. But Qt uses what everyone else in computer-land uses: an origin at the top-left of the screen. It's whack. That means counter-clockwise rotations in ODE land are clockwise rotations in Qt land. Increasing your values of y send you up in ODE, down in Qt. Normals face one way with ODE, the other way with Qt. Blech.
A big tip o' the hat to Stefan Waner and Steven R. Costenoble for their Finite Mathematics page. Also big thanks to Columbia College of Missouri for reminding me how to reduce a matrix in my head. Without them I wouldn't have been able to remember how to invert the rotation matrix and easily convert ODE rotation matrixes to Qt rotation matrixes.
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