public static Quaternionf Inverse(Quaternionf q) { return(q.Inverse()); }
///<summary> Map vector *into* local coordinates of Frame </summary> public Vector3D ToFrameV(Vector3D v) { return(Quaternionf.Inverse(this.rotation) * v); }
///<summary> Map quaternion *into* local coordinates of Frame </summary> public Quaternionf ToFrame(Quaternionf q) { return(Quaternionf.Inverse(this.rotation) * q); }
///<summary> Map point *into* local coordinates of Frame </summary> public Vector3D ToFrameP(Vector3D v) { v = v - this.origin; v = Quaternionf.Inverse(this.rotation) * v; return(v); }