@brief Set the rotation matrix of a placeable geom.
If the geom is attached to a body, the body's rotation will also be changed.
Calling this function on a non-placeable geom results in a runtime error in
the debug build of ODE.
@param geom the geom to set.
@param R the new rotation matrix.
@sa dBodySetRotation
@ingroup collide
@brief Set the rotation matrix of a placeable geom.
If the geom is attached to a body, the body's rotation will also be changed. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
@param geom the geom to set. @param R the new rotation matrix. @sa dBodySetRotation @ingroup collide