/// <summary>
/// Return a Vector rotated around the Quaternion
/// </summary>
/// <param name="q1">
/// Quaternion
/// </param>
/// <param name="v2">
/// Vector
/// </param>
/// <returns>
/// </returns>
public static Vector3 RotateVector3(Quaternion q1, Vector3 v2)
{
Quaternion QuatVect = new Quaternion(v2.x, v2.y, v2.z, 0);
Quaternion QuatNorm = q1.Normalize();
Quaternion Result = Hamilton(Hamilton(QuatNorm, QuatVect), QuatNorm.Conjugate());
return new Vector3(Result.x, Result.y, Result.z);
}