/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result)
{
Quaterniond v = new Quaterniond(vec.X, vec.Y, 0, 0), i, t;
Quaterniond.Invert(ref quat, out i);
Quaterniond.Multiply(ref quat, ref v, out t);
Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector2d(v.X, v.Y);
}
