@brief Set the offset rotation of a geom from its body.
Sets the geom's rotational offset to orient it to the new world
rotation matrix.
After this call, the geom will be at the world orientation passed in,
and the offset will be the difference from the current body orientation.
The geom must be attached to a body.
If the geom did not have an offset, it is automatically created.
@param geom the geom to set.
@param Q the new rotation.
@ingroup collide
@brief Set the offset rotation of a geom from its body.
Sets the geom's rotational offset to orient it to the new world rotation matrix. After this call, the geom will be at the world orientation passed in, and the offset will be the difference from the current body orientation. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
@param geom the geom to set. @param Q the new rotation. @ingroup collide