The pyramid is linked to the box. I have the positions and rotations of both the green box and the green pyramid. The axis intersecting the green box is at (0, 0, 0) with a rotation of (0, 0, 0). I want to move and rotate this group to the new axis centered in the purple box. I have the position and rotation of the purple box. What I need to know is how to calculate the new rotation and position of the red pyramid.
It's been quite a while since I've done stuff like this, so if someone could help me with formulas and how to use them to calculate the new rotation and position, I would appreciate it.