From f66cb39a983b366dde925bacd597ed9365f01b00 Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Mon, 19 Oct 2009 17:24:23 +0000
Subject: [PATCH] added Object::setRotation()

git-svn-id: svn://anubis/misc/OdeWorld@192 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 16 ++++++++++++++++
 OdeWorld.h  |  1 +
 2 files changed, 17 insertions(+)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index f70f03e..c48af07 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -510,6 +510,22 @@ void OdeWorld::Object::getPosition(double * x, double * y, double * z)
     }
 }
 
+void OdeWorld::Object::setRotation(dReal x, dReal y, dReal z)
+{
+    dMatrix3 r;
+    dRFromEulerAngles(r, x, y, z);
+    if (m_is_static)
+    {
+        for (int i = 0, sz = m_geoms.size(); i < sz; i++)
+            dGeomSetRotation(m_geoms[i], r);
+    }
+    else
+    {
+        if (m_body != 0)
+            dBodySetRotation(m_body, r);
+    }
+}
+
 void OdeWorld::Object::addForce(dReal fx, dReal fy, dReal fz)
 {
     if (m_body != 0)
diff --git a/OdeWorld.h b/OdeWorld.h
index cf199cf..593c61c 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -24,6 +24,7 @@ class OdeWorld
                 void loadPhy(const std::string & path);
                 void setPosition(double x, double y, double z);
                 void getPosition(double * x, double * y, double * z);
+                void setRotation(dReal x, dReal y, dReal z);
                 const dReal * getPosition();
                 const dReal * getRotation();
                 std::vector<dGeomID> loadPhy(const std::string & path,