public static SCNVector3 Act(this SCNQuaternion self, SCNVector3 vector)
{
// Calculate the resulting vector using the Hamilton product
// P' = RPR'
// P = [0, p1, p2, p2] < -- vector
// R = [w, x, y, z] < -- rotation
// R' = [w, -x, -y, -z]
var p = new SCNQuaternion(vector, 0f);
var r = self;
var rt = r;
rt.Conjugate();
return(SCNQuaternion.Multiply(SCNQuaternion.Multiply(r, p), rt).Xyz);
}
public static SCNQuaternion Divide(this SCNQuaternion left, SCNQuaternion right)
{
return(SCNQuaternion.Multiply(left, SCNQuaternion.Invert(right)));
}