Rotates a collider-local point into world space by a Rapier rotation.
The 3D counterpart of the 2D adapter's cos/sin pair, and the one piece of
real quaternion arithmetic this adapter does: v' = v + 2w(q × v) + 2q × (q × v), written as the usual two-cross-product form. @fourjs/math's Quaternion
has no rotate-a-vector method to borrow, and building one here keeps the
adapter's per-contact path free of Vector3 temporaries.
Rotates a collider-local point into world space by a Rapier rotation.
The 3D counterpart of the 2D adapter's
cos/sinpair, and the one piece of real quaternion arithmetic this adapter does:v' = v + 2w(q × v) + 2q × (q × v), written as the usual two-cross-product form.@fourjs/math'sQuaternionhas no rotate-a-vector method to borrow, and building one here keeps the adapter's per-contact path free ofVector3temporaries.Writes into
outand returns it (§7b, D7).