title: How to generate a random quaternion quickly?
body: <p>I searched around and it turns out the answer to this is surprising hard to find. Theres algorithm out there that can generate a random orientation in quaternion form but they involve sqrt and trig functions. I dont really need a uniformly distributed orientation. I just need to generate (many) quaternions such that their randomness in orientation is "good enough." I cant specify what is "good enough" except that I need to be able to do the generation quickly.</p>