```
//Integrate quaternion.
PxQuat wq(w.x,w.y,w.z,0.0f);
PxQuat q=t.q;
PxQuat qdot=wq*q*(dt*0.5f);
q+=qdot;
q.normalize();
t.q=q;
```

after compute the chassis force/torque ,

in func **integrateBody**,

update the linear and angular velocity of chassis

w is the angular velocity of the chassis

what’s meaning of wq(w.x,w.y,w.z,0.0f),why vec3 -> quat in this way?

I just know a rotation mat3 -> quat / quat -> mat3

why qdot compute just multiply wq to get the new t.q ?