Fix 3D rotation update in transform_to_position
#520
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Jondolf
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Objective
Fixes #516.
Rotation is currently updated incorrectly in 3D by
transform_to_position. It uses addition and subtraction instead of multiplication for quaternions. This causes clear desync betweenTransformrotation andRotationwhenSyncConfig::position_to_transformisfalseand theTransformis changed:2024-09-23.00-58-47.mp4
Solution
Fix the rotation update. We can also remove the normalization, because individual quaternion multiplications should remain normalized, assuming the inputs are normalized (and there aren't too many successive rotations).
Now, the desync is fixed:
2024-09-23.00-57-12.mp4