Function fromRotationTranslationScaleOrigin

Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin This is equivalent to (but much faster than):

mat4.identity(dest);
mat4.translate(dest, dest, vec);
mat4.translate(dest, dest, origin);
let quatMat = mat4.create();
mat4.fromQuat(quatMat, quat);
mat4.multiply(dest, dest, quatMat);
mat4.scale(dest, dest, scale)
mat4.translate(dest, dest, negativeOrigin);