code: public void recomputeQ( DMatrix4x4 Q ) {
  		CommonOps_DDF3.multTransB(k,k,w);
  
  		Q.a11 = w.a11;Q.a12 = w.a12;Q.a13 = w.a13;
  		Q.a21 = w.a21;Q.a22 = w.a22;Q.a23 = w.a23;
  		Q.a31 = w.a31;Q.a32 = w.a32;Q.a33 = w.a33;
  
  		CommonOps_DDF3.mult(w,p,t);
  		CommonOps_DDF3.scale(-1,t);
  
  		Q.a14 = t.a1;Q.a24 = t.a2;Q.a34 = t.a3;
  		Q.a41 = t.a1;Q.a42 = t.a2;Q.a43 = t.a3;
  
  		Q.a44 = -CommonOps_DDF3.dot(t,p);
  	}
docs: Recomputes Q from w and p.
  
  @param Q Storage for the recomputed Q