/// <summary>
/// ODE API compatability function due to dMatrix3 marshalling errors
/// </summary>
/// <param name="R"></param>
/// <param name="ax"></param>
/// <param name="ay"></param>
/// <param name="az"></param>
public static void dRFromZAxis( dMatrix3 R, dReal ax, dReal ay, dReal az )
{
dRFromZAxis( R.ToArray(), ax, ay, az );
}
/// <summary>
/// Given mass parameters for some object, adjust them to represent the object rotated by R relative to the body frame.
/// </summary>
/// <param name="mass">A dMass</param>
/// <param name="R">A dMatrix3</param>
public static void dMassRotate(ref dMass mass, dMatrix3 R)
{ // for compatibility
dMassRotate(ref mass, R.ToArray());
}
/// <summary>
/// Set the rotation matrix of a placeable geom.
///
/// This function is analogous to dBodySetRotation.
///
/// 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.
/// </summary>
/// <param name="geom">the geom to set</param>
/// <param name="R">dMatrix3 containing the new rotation matrix</param>
public static void dGeomSetRotation(dGeomID geom, dMatrix3 R)
{ // for compatibility
dGeomSetRotation(geom, R.ToArray());
}
/// <summary>
/// Set the rotation of the body.
///
/// After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
/// is inconsistent with the joints/constraints that are present.
/// </summary>
/// <remarks>
/// For some reason the dMatrix3 does not marshall correctly, so this function
/// maintains compatibility with the ODE api by converting the supplied dMatrix3 to
/// and array and passing that to ODE.
/// </remarks>
/// <param name="body">the body to set</param>
/// <param name="R">A dMatrix3 containing the new rotation matrix</param>
public static void dBodySetRotation(dBodyID body, dMatrix3 R)
{
dBodySetRotation(body, R.ToArray());
}