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); }