I am sure this has been asked many times, but I cannot find it, or get my head around it.
I have an object O whose rotation within the world frame is represented by Quaternion OW. It has forces on it within the world frame represented by a Vector3 FW.
I need to convert those forces to another Vector3 FL within O’s local frame of reference.
Am I right in thinking
FL = Quaternion.Inverse(OW) * FW
If not, what should it be? If so, why?