Simplify dual quaternion functions
Simplify dual quaternion functions

KeliangH/amino,KeliangH/amino,ndantam/amino,golems/amino,golems/amino,KeliangH/amino,golems/amino,ndantam/amino,KeliangH/amino,KeliangH/amino,ndantam/amino,golems/amino,ndantam/amino,ndantam/amino,KeliangH/amino,golems/amino,golems/amino,ndantam/amino