Compat for Julia 1.7 and switch from Roations.jl to Quaternions.jl

[janbruedigam]

No description provided.

[codecov-commenter]

Codecov Report

Merging #10 (ba08bb7) into main (efab5f2) will increase coverage by 0.01%.
The diff coverage is 88.29%.

❗ Current head ba08bb7 differs from pull request most recent head 8ef741e. Consider uploading reports for the commit 8ef741e to get more accurate results

@@            Coverage Diff             @@
##             main      #10      +/-   ##
==========================================
+ Coverage   92.13%   92.14%   +0.01%     
==========================================
  Files          81       81              
  Lines        3816     3821       +5     
==========================================
+ Hits         3516     3521       +5     
  Misses        300      300              

Impacted Files	Coverage Δ
src/Dojo.jl	100.00% <ø> (ø)
src/bodies/set.jl	94.91% <ø> (ø)
src/contacts/nonlinear.jl	100.00% <ø> (ø)
src/contacts/utilities.jl	0.00% <ø> (ø)
src/joints/impulses.jl	100.00% <ø> (ø)
src/joints/joint.jl	89.39% <ø> (ø)
src/joints/limits.jl	100.00% <ø> (ø)
src/joints/rotational/constructor.jl	100.00% <ø> (ø)
src/joints/rotational/impulses.jl	100.00% <ø> (ø)
src/joints/rotational/input.jl	43.58% <ø> (ø)
... and 28 more

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[thowell]

Is it possible to remove dependency on Rotations? What are the benefits to using Quaternions.jl over the implementation in Rotations.jl?

[janbruedigam]

Completely removing the dependency on Rotations.jl is possible and requires rewriting just a few small functions (rand, or some mappings for MeshCat/CoordinateTransformations). So yes, makes sense!
The issue with the new Rotations.jl versions is that a QuatRotation needs to be unit length, and is changed to a Quaternion when it is no longer unit length. We are doing a lot of multiplications of quaternions with scalars, for example for angular velocities, which no longer gives us a unit length quaternion and would require adding a number of functions / special casing.