Quaternion PhysXRigidbody::getCenterOfMassRotation() const { PxTransform cMassTfrm = mInternal->getCMassLocalPose(); return fromPxQuaternion(cMassTfrm.q); }
Quaternion PhysXD6Joint::getDriveRotation() const { return fromPxQuaternion(getInternal()->getDrivePosition().q); }
Quaternion PhysXRigidbody::getRotation() const { return fromPxQuaternion(mInternal->getGlobalPose().q); }
Quaternion FPhysXJoint::getRotation(JointBody body) const { PxQuat rotation = mJoint->getLocalPose(toJointActor(body)).q; return fromPxQuaternion(rotation); }