+static void transform_identity( mdl_transform *transform )
+{
+ v3_zero( transform->co );
+ q_identity( transform->q );
+ v3_fill( transform->s, 1.0f );
+}
+
+static void mdl_transform_vector( mdl_transform *transform, v3f vec, v3f dest )
+{
+ v3_mul( transform->s, vec, dest );
+ q_mulv( transform->q, dest, dest );
+}
+
+static void mdl_transform_point( mdl_transform *transform, v3f co, v3f dest )
+{
+ mdl_transform_vector( transform, co, dest );
+ v3_add( transform->co, dest, dest );
+}
+
+static void mdl_transform_mul( mdl_transform *a, mdl_transform *b,
+ mdl_transform *d )
+{
+ mdl_transform_point( a, b->co, d->co );
+ q_mul( a->q, b->q, d->q );
+ q_normalize( d->q );
+ v3_mul( a->s, b->s, d->s );
+}
+