public static void GetLocalTransform(ref RigidTransform transformA, ref RigidTransform transformB,
out RigidTransform localTransformB)
{
//Put B into A's space.
Quaternion conjugateOrientationA;
Quaternion.Conjugate(ref transformA.Orientation, out conjugateOrientationA);
Quaternion.Concatenate(ref transformB.Orientation, ref conjugateOrientationA, out localTransformB.Orientation);
Vector3.Subtract(ref transformB.Position, ref transformA.Position, out localTransformB.Position);
Vector3.Transform(ref localTransformB.Position, ref conjugateOrientationA, out localTransformB.Position);
}
