rs2_pose pose_inverse(const rs2_pose& p)
{
rs2_pose i;
i.rotation = quaternion_conjugate(p.rotation);
i.translation = vector_negate(quaternion_rotate_vector(i.rotation, p.translation));
return i;
}
void model_rotate_around(model_t *m, vector_t rotate, vector_t center)
{
model_translate(m, vector_negate(center));
model_rotate(m, rotate);
model_translate(m, center);
}
