Is it possible to write btRigidBody alternative - a quaternion-based 'btQuaterRigidBody'?
So, that it will operate with quaternions natively, when it's all about object rotation-related stuff.
It may store object rotation, angular velocity and angular acceleration in quaternions.
I've heard that quaternion-based math may be cheaper with rotation dynamics matrix math.
Is it so? What are pros and cons of quaternion-based approach in dynamics calculation?