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This is an optimization proposition.
Quaternions are heavily used during mesh generation and are costly to create and to compute.
This PR uses pre-computed quaternions for the most used operations.
Warning : this somewhat breaks the backward compatibility since the same Quaternion objects are used, requiring shapes to clone them when needed (and not using e.g. xxxLocal() operations ! See impact on existing shapes.
If unacceptable, we will need to clone() each quaternion returned.