skooter500/Forward-Euler-Integration-with-Quaternions-in-XNA — pull request #1 by Scode0614 (2012-11-03 01:17:41+00:00)
Title: Changed by shane

I made two changes. One is change all the arguments in addTorque() function to local space.

The other is changing the quaternion update to
"quaternion += ((w * (timeDelta / 2.0f)) *quaternion);",
not "quaternion += ((w * (timeDelta / 2.0f)) * Quaternion.Inverse(quaternion));"