Transform3D trans1 = new Transform3D();
Vector3f v1 = relPos;
trans1.setTranslation(v1);
Transform3D trans2 = new Transform3D();
trans2.rotX(velAngular.x);
Transform3D trans3 = new Transform3D();
trans3.rotY(velAngular.y);
Transform3D trans4 = new Transform3D();
trans4.rotZ(velAngular.z);

Transform3D t3d = new Transform3D();
t3d.mul(trans2, trans1);
t3d.mul(trans3, t3d);
t3d.mul(trans4, t3d);
t3d.get(res);