Function dBodySetRotation

3rd_party/Src/ode/ode/src/ode.cpp:341–356

void dBodySetRotation (dBodyID b, const dMatrix3 R)
{
  dAASSERT (b && R);
  dQuaternion q;
  dRtoQ (R,q);
  dNormalize4 (q);
  b->q[0] = q[0];
  b->q[1] = q[1];
  b->q[2] = q[2];
  b->q[3] = q[3];
  dQtoR (b->q,b->R);

  // notify all attached geoms that this body has moved
  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
    dGeomMoved (geom);
}


void dBodySetQuaternion (dBodyID b, const dQuaternion q)