// Quarternion multiplication
public static Quarts operator *(Quarts S, Quarts R)
{
Quarts r = new Quarts(0, new Vectors(0, 0, 0));
// Turn Quarternions into vectors for calculating xyz values later
Vectors SV = GetAxis(S);
Vectors RV = GetAxis(R);
// Calculates the new W value
float Cross = Vectors.DotProduct(GetAxis(S), GetAxis(R));
r.w = (S.w * R.w) - Cross;
// Calculates the new XYZ values
Vectors temp = new Vectors(0, 0, 0);
temp = ((RV * S.w) + (SV * R.w) + Vectors.CrossProduct(RV, SV));
// Put the new xyz values into the return quaternion
r.x = temp.x;
r.y = temp.y;
r.z = temp.z;
return(r);
}