[ODE] dMultiply0

[Gearoid Murphy]

Could someone please inform me of the purpose of dMultiply0. I know that 
dQMultiply0 is used to combine two dQuaternion data structures and place 
it in a resultant dQuaternion data structure. Consequently, the 
dQMultiply0 function takes 3 arguments.
    However, dMultiply0 takes 6 arguments. I know that this function is 
used for manipulating two rotation matrices in a way similar to the 
dQMultiply0 function. Does anyone know what the extra arguments are for?
Thanks in advance
Gearoid