Function dGeomSetRotation

3rd_party/Src/ode/ode/src/collision_kernel.cpp:365–378

void dGeomSetRotation (dxGeom *g, const dMatrix3 R)
{
  dAASSERT (g && R);
  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
  CHECK_NOT_LOCKED (g->parent_space);
  if (g->body) {
    // this will call dGeomMoved (g), so we don't have to
    dBodySetRotation (g->body,R);
  }
  else {
    memcpy (g->R,R,sizeof(dMatrix3));
    dGeomMoved (g);
  }
}


void dGeomSetQuaternion (dxGeom *g, const dQuaternion quat)