private void UpdateRotationEulerExplicit(float dt)
{
rotation += .5f * angularVelocity * rotation * dt;
rotation.Normalize();
angularVelocity += angularAcceleration * dt;
}
private void UpdateRotationKinematic(float dt)
{
//rotation += .5f * velQuat * rotation * dt + (accQuat * rotation + .5f * velQuat * velQuat * rotation) * dt * dt;
rotation += angularVelocity * rotation * dt * .5f + angularAcceleration * rotation * dt * dt * .25f - rotation * angularVelocity.sqrMagnitude * dt * dt * .125f;
rotation.Normalize();
angularVelocity += angularAcceleration * dt;
}