Writes Rapier's scalar angle back into a quaternion as a rotation about +Z (§7a): (0, 0, sin(θ/2), cos(θ/2)).
(0, 0, sin(θ/2), cos(θ/2))
Writes Rapier's scalar angle back into a quaternion as a rotation about +Z (§7a):
(0, 0, sin(θ/2), cos(θ/2)).