//Operators
public static MyQuaternion operator *(MyQuaternion q, MyQuaternion p)
{
MyQuaternion m = new MyQuaternion();
m.w = (p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z);
m.x = (p.w * q.x + p.x * q.w - p.y * q.z + p.z * q.y);
m.y = (p.w * q.y + p.x * q.z + p.y * q.w - p.z * q.x);
m.z = (p.w * q.z - p.x * q.y + p.y * q.x + p.z * q.w);
m.Normalize();
return(m);
}
public static MyQuaternion FromAxisAngle(axisAngle axis)
{
MyQuaternion q = new MyQuaternion();
q.w = Mathf.Cos(axis.w / 2);
q.x = axis.x * Mathf.Sin(axis.w / 2);
q.y = axis.y * Mathf.Sin(axis.w / 2);
q.z = axis.z * Mathf.Sin(axis.w / 2);
q.Normalize();
return(q);
}