public AdnQuaternion Invert()
{
AdnQuaternion qinv = new AdnQuaternion();
qinv._w = _w;
qinv._x = -_x;
qinv._y = -_y;
qinv._z = -_z;
return qinv;
}
public AdnQuaternion Multiply(AdnQuaternion q)
{
AdnQuaternion r = new AdnQuaternion();
r._w = _w * q._w - _x * q._x - _y * q._y - _z * q._z;
r._x = _w * q._x + _x * q._w + _y * q._z - _z * q._y;
r._y = _w * q._y + _y * q._w + _z * q._x - _x * q._z;
r._z = _w * q._z + _z * q._w + _x * q._y - _y * q._x;
return(r);
}
public AdnQuaternion Clone()
{
AdnQuaternion q = new AdnQuaternion();
q._w = _w;
q._x = _x;
q._y = _y;
q._z = _z;
return q;
}
