Horde3D

// get the possition, offset of bounding box and orientation
    SGZVECTOR pos = ODEWorld->getPos(odeIndex);
    SGZVECTOR offset = ODEWorld->getOffset(odeIndex);
    const float* q = ODEWorld->getQuaternion(odeIndex);

// create matrix's
    Matrix4f mat = Matrix4f();
    Matrix4f qMat(q);

// perform matrix concatination
    mat.translate(-offset.x, -offset.y, -offset.z);
    mat = mat * qMat;
    mat.translate(pos.x, pos.y, pos.z);

// place object
    bool temp = Horde3D::setNodeTransformMatrix(  (NodeHandle)lua_tonumber(Lua, 1), mat.x);