public static Transform mul(Transform A, Transform B)
{
var C = new Transform();
Rot.mulUnsafe(A.q, B.q, C.q);
Rot.mulToOutUnsafe(A.q, B.p, C.p);
C.p.addLocal(A.p);
return(C);
}
public static void mulToOutUnsafe(Transform A, Transform B, Transform out_)
{
Rot.mulUnsafe(A.q, B.q, out_.q);
Rot.mulToOutUnsafe(A.q, B.p, out_.p);
out_.p.addLocal(A.p);
}
