ODE_API void _stdcall ODE_dBodySetRotation(dBodyID body, dReal x, dReal y, dReal z)
{
	dMatrix3 R;
	if (fabs(x) > 180)
 x = (360 - fabs(x)) * (-Sgn(x));
	if (fabs(y) > 180)
 y = (360 - fabs(y)) * (-Sgn(y));
	if (fabs(z) > 180)
 z = (360 - fabs(z)) * (-Sgn(z));

	dRFromEulerAngles(R, -x * 3.14159f / 180, y * 3.14159f / 180, -z * 3.14159f / 180);
	dBodySetRotation(body, R);
}



//...................

int Sgn(float a)
{
	if (a > 0)
 return 1;
	else if (a < 0)
 return -1;
	return 0;
}