adds setters for translation and rotation in TransformNode

TransformNode was missing setters for translation & rotation. While I could use a workaround using translate(const Vec3d& _v) and just translate by Δ_v I think having a setter is better.

libs_required/ACG/Scenegraph/TransformNode.cc

@@ -134,6 +134,17 @@ translate(const Vec3d& _v)
   updateMatrix();
 }
 
+//----------------------------------------------------------------------------
+
+
+void
+TransformNode::
+setTranslation(const Vec3d& _v)
+{
+  translation_ = _v;
+  updateMatrix();
+}
+
 
 //----------------------------------------------------------------------------
 
@@ -156,6 +167,22 @@ rotate(double _angle, const Vec3d& _axis)
 
 void
 TransformNode::
+setRotation(const Quaterniond& rotation)
+{
+  quaternion_ = rotation;
+  quaternion_.normalize();
+  rotation_matrix_ = quaternion_.rotation_matrix();
+  inverse_rotation_matrix_ = rotation_matrix_;
+  inverse_rotation_matrix_.transpose();
+  updateMatrix();
+}
+
+
+//----------------------------------------------------------------------------
+
+
+void
+TransformNode::
 scale(const Vec3d& _s)
 {
   scale_matrix_.scale(_s);
@@ -256,7 +283,7 @@ enter(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
 
   if (is2DObject_)
     ortho2DMode(_state);
-  
+
   if(isPerSkeletonObject_)
     perSkeletonMode(_state);
 }
@@ -360,19 +387,19 @@ ortho2DMode(GLState& _state)
 
   if (width == 0 || height == 0)
     return;
-  
+
 //   _state.viewport(0,0,width, height);
   _state.reset_projection();
-  
+
   _state.ortho(-(GLdouble)width/2.0, (GLdouble)width/2.0, -(GLdouble)height/2.0, (GLdouble)height/2.0, 0.01, 20.0);
 //   _state.ortho(0.0, (GLdouble)width, (GLdouble)height, 0.0, 0.01,20.0);
-  
+
   _state.reset_modelview();
-  
-  _state.lookAt( Vec3d(0.0,0.0,0.0), 
-                 Vec3d(0.0,0.0,1.0), 
+
+  _state.lookAt( Vec3d(0.0,0.0,0.0),
+                 Vec3d(0.0,0.0,1.0),
                  Vec3d(0.0,-1.0,0.0));  // flip up direction (y-axis) s.t. opengl coordsys matches image coordsys
-  
+
   _state.scale(scaleFactor2D_, scaleFactor2D_, 1.0);
 
   //   move image center to window center