Transform.mul constructor

Transform.mul(
  1. Transform a,
  2. Transform b
)

Implementation

factory Transform.mul(Transform a, Transform b) {
  final c = Transform.zero();
  c.q.setFrom(Rot.mul(a.q, b.q));
  c.p.setFrom(Rot.mulVec2(a.q, b.p));
  c.p.add(a.p);
  return c;
}