Newton2 coordinate system orientation and NewtonBodySetOmega

[predaeus]

Using OpenGL style row-major order matrices here I transpose matrices when passing between Newton2 and my application. Now I wonder how NewtonBodySetOmega works. If I specify NewtonBodySetOmega(foo, {1.0, 0.0, 0.0}) I get counter-clockwise rotation around the x-axis.
I thought for a right-handed coordinate system it would rotate clockwise. Is Newton2 using a left-handed system?

Please can someone clarify this because if Newton2 is right-handed and this should indeed rotate clockwise then I can look for bugs in the drawing or matrix routines here.

[Julio Jerez]

you do not need to transpose anything, newton use teh same system than OpenGl uses

[predaeus]

oh, ok so the 1.5 documentation

The matrix should be arranged in row-major order (this is the way directX stores matrices). If you are using
OpenGL matrices (column-major) you will need to transpose you matrices into a local array, before passing
them to Newton.

is outdated.

Thanks for the info!

[Julio Jerez]

That comment is wrong.
The matrix shout not be transposed for eiethe D3d or OGL

[Aphex]

Also, a positive rotation in a right-handed coordinate system (when looking from a positive axis back towards the origin) will be anti-clockwise.