Function B2RotMul

CommonB2Math.go:627–632

Multiply two rotations: q * r

(q, r B2Rot)

/// Multiply two rotations: q * r
func B2RotMul(q, r B2Rot) B2Rot {
	return B2Rot{
		S: q.S*r.C + q.C*r.S,
		C: q.C*r.C - q.S*r.S,
	}
}

/// Transpose multiply two rotations: qT * r
func B2RotMulT(q, r B2Rot) B2Rot {