public void getLocalVectorToOut(Vec2 worldVector, Vec2 out_)
{
Rot.mulTrans(m_xf.q, worldVector, out_);
}
public static void mulTransToOut(Transform A, Transform B, Transform out_)
{
Rot.mulTrans(A.q, B.q, out_.q);
pool.set(B.p).subLocal(A.p);
Rot.mulTrans(A.q, pool, out_.p);
}