[ODE] attaching a ray to bodies

[cledwith at d-a-s.com]

> Megan Fox wrote:
>> Use an GeomTransform - it works excellently.
>
> Even for rays?  I had no such luck, and resorted to
> updating my rays manually...
> --Adam

It works -- partially. But dGeomRaySet only operates on the portion of the
rotation matrix that represents the ray's forward vector. So you have to
make sure the entire matrix is updated (up and right vectors) if you need
that information for something.

-Chris