Optimize IK bone rotation solving

Removed an unnecessary normalization step in the IK bone rotation
calculation to streamline the update process, as the rotation quaternion
is already normalized. Additionally, eliminated the redundant
orthonormalization of the result transform, simplifying the code and
potentially improving performance.

src/ik_bone_segment_3d.cpp

@@ -168,10 +168,9 @@ void IKBoneSegment3D::_set_optimal_rotation(Ref<IKBone3D> p_for_bone, PackedVect
 			Basis rotation = qcp.weighted_superpose(*r_htip, *r_htarget, *r_weights, p_translate);
 			Vector3 translation = qcp.get_translation();
 			double dampening = (p_dampening != -1.0) ? p_dampening : bone_damp;
-			rotation = clamp_to_quadrance_angle(rotation.get_rotation_quaternion(), cos(dampening / 2.0)).normalized();
+			rotation = clamp_to_quadrance_angle(rotation.get_rotation_quaternion(), cos(dampening / 2.0));
 			p_for_bone->get_ik_transform()->rotate_local_with_global(rotation.get_rotation_quaternion());
 			Transform3D result = Transform3D(p_for_bone->get_global_pose().basis, p_for_bone->get_global_pose().origin + translation);
-			result.orthonormalize();
 			p_for_bone->set_global_pose(result);
 		}
 		// Calculate orientation before twist to avoid exceeding the twist bound when updating the rotation.