pub fn integrate_angular(q: [f64; 4], omega: [f64; 3], dt: f64) -> [f64; 4]Expand description
Advance a rotation quaternion q = [x, y, z, w] by angular velocity
omega over time dt.
Uses the first-order approximation:
q(t+dt) ≈ normalize(q + 0.5 * dt * Ω * q)
where Ω is the pure-quaternion (0, omega).