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perf: compute Twist3.Ad() directly instead of via a throwaway SE3 #568

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Run time

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Job	Run time
unittest (windows-latest, 3.13)	1m 20s
unittest (macos-latest, 3.12)	49s
unittest (macos-latest, 3.10)	1m 23s
unittest (windows-latest, 3.10)	1m 55s
unittest (macos-latest, 3.13)	41s
unittest (ubuntu-22.04, 3.13)	48s
unittest (ubuntu-22.04, 3.11)	43s
unittest (ubuntu-22.04, 3.12)	41s
unittest (ubuntu-22.04, 3.10)	41s
unittest (macos-latest, 3.11)	57s
codecov	1m 2s
all-unittests-passed	3s
sphinx / sphinx	-1s
	11m 2s