@brief sets the finite rotation axis for a body.
@ingroup bodies
@remarks
This is axis only has meaning when the finite rotation mode is set
If this axis is zero (0,0,0), full finite rotations are performed on
the body.
If this axis is nonzero, the body is rotated by performing a partial finite
rotation along the axis direction followed by an infinitesimal rotation
along an orthogonal direction.
@remarks
This can be useful to alleviate certain sources of error caused by quickly
spinning bodies. For example, if a car wheel is rotating at high speed
you can call this function with the wheel's hinge axis as the argument to
try and improve its behavior.
@brief sets the finite rotation axis for a body. @ingroup bodies @remarks This is axis only has meaning when the finite rotation mode is set If this axis is zero (0,0,0), full finite rotations are performed on the body. If this axis is nonzero, the body is rotated by performing a partial finite rotation along the axis direction followed by an infinitesimal rotation along an orthogonal direction. @remarks This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to try and improve its behavior.