def draw_body(body):
    """Draw an ODE body.
    """
    glLoadIdentity()
    x,y,z = body.getPosition()
    y-=1
    x-=2
    R = body.getRotation()
    rot = [R[0], R[3], R[6], 0.,
           R[1], R[4], R[7], 0.,
           R[2], R[5], R[8], 0.,
           x, y, z, 1.0]
    glPushMatrix()
    glMultMatrixd(rot)
    if body.shape=="box":
        sx,sy,sz = body.boxsize
        glScalef(sx, sy, sz)
        glutSolidCube(1)
    glPopMatrix()