def make_OpenGL_matrix(rot, pos):
    """Return an OpenGL compatible (column-major, 4x4 homogeneous)
	transformation matrix from ODE compatible (row-major, 3x3) rotation matrix
	rotation and position vector position.

	The returned matrix format is length-9 tuple.

	"""
    return rot[0], rot[3], rot[6], 0.0, rot[1], rot[4], rot[7], 0.0, rot[2
        ], rot[5], rot[8], 0.0, pos[0], pos[1], pos[2], 1.0
