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