RoboticsDrift doesn't work with model hierarchies having a position/rotation offset

[gotmachine]

All the stock robotics parts have a model hierarchy where the movingTransform (defined by servoTransformName in configs) has a zero position and rotation relative to the model root.

But this doesn't necessarily hold true for modded parts. The model hierarchy can have local pos/rot offsets, and the model itself can be translated/rotated relative to the part transform by defining a non-zero position/rotation in the part config MODEL{} node.

Failing to handle that case causes the orgRot/orgPos update to produce garbage results, resulting in wrong part positions when timewarping and after reloading a saved vessel. This can be seen in the BDB Hokulani OCO-RT90 Truss Structure. That part is victim of both issues, as it uses a MODEL{} rotation and has local position offsets between the model root and the movingTransform.

We need to fix things in 2 separate places. The position offset should likely be used when calling RecurseChildCoordsUpdate() the first time :

KSPCommunityFixes/KSPCommunityFixes/BugFixes/RoboticsDrift.cs

Line 442 in 5e6be5a

RecurseChildCoordsUpdate(part, Vector3d.zero);

The rotation offset should likely be accounted for at the GetLocalToVesselSpace() level :

KSPCommunityFixes/KSPCommunityFixes/BugFixes/RoboticsDrift.cs

Lines 318 to 323 in 5e6be5a

	protected QuaternionD GetLocalToVesselSpace()
	{
	// for some reason not normalizing can end up with a quaternion with near infinity components
	// when it should be identity, leading to infinity and NaN down the line...
	return (QuaternionD.Inverse(servo.part.orgRot) * (QuaternionD)servo.part.vessel.rootPart.orgRot).Normalize();
	}