public void SetRotationXYZ(Vec3 rad, Vec3? trans = null)
{
Q.SetRotationXYZ(rad);
T = trans.GetValueOrDefault();
}
public void SetRotationAA(float cosha, float sinha, Vec3 axis, Vec3? trans = null)
{
Q.SetRotationAA(cosha, sinha, axis);
T = trans.GetValueOrDefault();
}