Converts a world-space anchor into a body's local frame (§28; the
conversion PhysicsWorld.addJoint performs — see the module header).
position and rotation are the body's world pose as the solver holds it.
Writes into out when given and returns it (§7b, plan D7); scratch is the
quaternion the inverse rotation is built in, so a caller on a per-frame path
can supply its own and allocate nothing.
Converts a world-space anchor into a body's local frame (§28; the conversion
PhysicsWorld.addJointperforms — see the module header).positionandrotationare the body's world pose as the solver holds it. Writes intooutwhen given and returns it (§7b, plan D7);scratchis the quaternion the inverse rotation is built in, so a caller on a per-frame path can supply its own and allocate nothing.