Added a * operator
compute from to -> adds safeties around shortestArc
conjugate -> reverses the xyz of the quaternion
IK Solver commit
Added: IKChain struct to tsshape
commands to tsshapeconstruct to create and setup ikchains
ik solvers -> ccd and fabrik, these are in their own file tsIKSolver
TODO: there needs to be some tooling added to the shape editor for this
