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Rotate to face a direction in ODE

I'm trying to code some AI for a space flight simulation game. I have a function called seek that returns the desired velocity to head towards a target. My problem is now applying this to an ODE ...
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Mixing kinematics and dynamics in ODE

I am trying to do some animations on characters with a variety of body plans. I am trying to make a system that uses IK for moving end effector positions (some of the time), and use the actual ...