Quaternion rotation

[WT-MM]

Problem

Want to be able to rotate a vector by the inverse of the quaternion

Solution

Added a flag to use the quaternion conjugate

Validation

Comparison against xax implementation

Checklist

• I've completed all the documentation steps above (problem, solution, validation).
• I confirm there's no AI slop in this PR.
• I've updated the documentation to reflect my changes.