Converts a world-space direction into a body's local frame and normalizes it (§28). A zero direction stays zero, which is how an unnamed 3D hinge axis reaches validation as the error it is.
Writes into out when given (§7b, plan D7).
out
Optional
Converts a world-space direction into a body's local frame and normalizes it (§28). A zero direction stays zero, which is how an unnamed 3D hinge axis reaches validation as the error it is.
Writes into
outwhen given (§7b, plan D7).