Get the rotation quaternion of a placeable geom. dGeomGetQuaternion copies the geom's quaternion into the structure provided. If the geom is attached to a body, the body's quaternion will be returned, i.e. the resulting quaternion will be the same as the result of calling dBodyGetQuaternion. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.