[ODE] Small bug in collision_kernel.cpp

[John Miles]

I reported this a long time ago, and I thought they'd fixed it.  Do you have
the latest version of the source from CVS?

-- jm

> Hey all.  Found another bug, this time in collision_kernel.cpp.  In
> dGeomSetBody(), in the case where the body is zero, memcpy() is used
> to copy the Body's position and orientation back into the Geom.  The
> size arguments should be sizeof(dVector3) and sizeof(dMatrix3), as
> they are elsewhere, but currently are sizeof(b->pos) and sizeof(b->R).
> Since the pos and R elements of dxBody are in fact both dReal*, this
> results in the position and orientation of a Geom not being properly
> updated when it is detached from a Body.
>
> Old: (collision_kernel.cpp:324)
> <  memcpy (g->pos,g->body->pos,sizeof(g->pos));
> <  memcpy (g->R,g->body->R,sizeof(g->R));
> New:
> >  memcpy (g->pos,g->body->pos,sizeof(dVector3));
> >  memcpy (g->R,g->body->R,sizeof(dMatrix3));
>
>