public static void Mult(ref Quaternion left, ref Quaternion right, out Quaternion result)
{
result = new Quaternion(
right.W * left.Xyz + left.W * right.Xyz + Vector3F.Cross(left.Xyz, right.Xyz),
left.W * right.W - Vector3F.Dot(left.Xyz, right.Xyz));
}
public static Quaternion Mult(Quaternion left, Quaternion right)
{
return(new Quaternion(
right.W * left.Xyz + left.W * right.Xyz + Vector3F.Cross(left.Xyz, right.Xyz),
left.W * right.W - Vector3F.Dot(left.Xyz, right.Xyz)));
}
