Writes a Rapier 3D rotation back into a Quaternion.
No normalization is applied. Rapier stores a unit quaternion and
re-normalizes it as it integrates, so what comes back is already normalized to
within 32-bit rounding (measured: |q| - 1 < 4e-8 after 900 steps of a
tumbling box); normalizing again here would only add error and would hide a
solver problem if one ever appeared.
Writes a Rapier 3D rotation back into a
Quaternion.No normalization is applied. Rapier stores a unit quaternion and re-normalizes it as it integrates, so what comes back is already normalized to within 32-bit rounding (measured:
|q| - 1 < 4e-8after 900 steps of a tumbling box); normalizing again here would only add error and would hide a solver problem if one ever appeared.