/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <param name="p0"></param>
/// <param name="p1"></param>
public void Set(Vec3d p0, Quaterniond r0, Vec3d p1, Quaterniond r1)
{
r0.Invert();
_r10 = r0.Apply(r1);
_d10 = r0.Apply(p1 - p0);
r1.Invert();
_d01 = r1.Apply(p0 - p1);
}