-- | Map from body coordinates to space coordinates.
bodyToSpace :: Body -> Vec3 Double -> Vec3 Double
bodyToSpace b r = bPosition b + qrotate (bAngularPosition b) r
bodyToSpace :: Body -> Vec3 Double -> Vec3 Double
bodyToSpace b r = bPosition b + qrotate (bAngularPosition b) r
bodyToSpace b r = bPosition b + qrotate (bAngularPosition b) r