[ODE] Rotating dRayClass?

[Kyle Hubert]

How can I rotate my dRayClass? In particular, I am using the Ray for
selecting(picking) physics objects based on the user's viewport. I
have it working nicely for when the "camera" is placed at a location
with no rotation. Now, when I rotate the camera the point of
intersection of the ray (the origin hasn't moved) should be rotated.
Is their an easy way to do this? Like call dGeomRaySet then call
dGeomSetRotation?

Thank you.

-Kyle