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Cleanup and improvement for fromVectors() #491

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Hi Stefan,

thanks for Cannon.js! As I am the author of Quaternion.js ( https://github.com/infusion/Quaternion.js ), I was interested in your implementation and figured, your fromVectors() method could be improved quite a bit. Besides this I added a note where the calculation for normalizeFast() comes from and removed the unused vectors used before for multiplication.

Hope this is helpful.
Robert

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