[ODE] rotating a set of bodies in concert

[Keith Wiley]

I have a set of dBody objects, not dGeom objects and I would like to  
rotate them all into a new configuration, maintaining their relative  
locations.  Basically, have a chain composed of long slender  
rectangles (or cylinders), attached end to end with ball joints,  
thus, a nice little chain.  It works well.  To construct the chain  
with the links properly placed relative to one another before  
creating the joints, I lay the chain out cleanly on a cardinal axis,  
it just makes things easier.  After constructing the chain, I need to  
rotate the whole thing into position.  If the links were dGeoms, I  
could add them to a single dBody and rotate the body as a whole, but  
the links are individual dBodies.

How do I do this?

Thanks.

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Keith Wiley         kwiley at cs.unm.edu         http://www.unm.edu/~keithw

"The easy confidence with which I know another man's religion is folly
teaches me to suspect that my own is also."
                                            --  Mark Twain
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