///<summary> Map quaternion *into* local coordinates of Frame </summary>
public Quaternionf ToFrame(Quaternionf q)
{
return(Quaternionf.Inverse(this.rotation) * q);
}
///<summary> Map vector *into* local coordinates of Frame </summary>
public Vector3d ToFrameV(Vector3d v)
{
return(Quaternionf.Inverse(this.rotation) * v);
}
public static Quaternionf Inverse(Quaternionf q)
{
return(q.Inverse());
}
///<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);
}
///<summary> Map quaternion *into* local coordinates of Frame </summary>
public Quaternionf ToFrame(ref Quaternionf q)
{
return Quaternionf.Inverse(this.rotation) * q;
}