Converts an AngularVelocityInput — or a torque, or an angular
impulse, all of which are axial vectors — to Rapier's { x, y, z } form
(§21, §23, §26).
A number is the scalar rate about +Z and widens to (0, 0, w), which is
resolveAngularVelocity's rule and therefore the same in both dimensions.
This is where 3D differs most from 2D: there the angular quantities collapse
to a scalar, here they stay vectors all the way into the solver.
Converts an AngularVelocityInput — or a torque, or an angular impulse, all of which are axial vectors — to Rapier's
{ x, y, z }form (§21, §23, §26).A
numberis the scalar rate about +Z and widens to(0, 0, w), which isresolveAngularVelocity's rule and therefore the same in both dimensions. This is where 3D differs most from 2D: there the angular quantities collapse to a scalar, here they stay vectors all the way into the solver.