void NxQuat::rotate(Point & v) const
{
NxQuat myInverse;
myInverse.x = -x;
myInverse.y = -y;
myInverse.z = -z;
myInverse.w = w;
NxQuat left;
left.multiply(*this,v);
v.x = left.w*myInverse.x + myInverse.w*left.x + left.y*myInverse.z - myInverse.y*left.z;
v.y = left.w*myInverse.y + myInverse.w*left.y + left.z*myInverse.x - myInverse.z*left.x;
v.z = left.w*myInverse.z + myInverse.w*left.z + left.x*myInverse.y - myInverse.x*left.y;
}
void rotate(btVector3 & v) const
{
NxQuat myInverse;
myInverse.x = -x;
myInverse.y = -y;
myInverse.z = -z;
myInverse.w = w;
NxQuat left;
left.multiply(*this,v);
float vx = left.w*myInverse.x + myInverse.w*left.x + left.y*myInverse.z - myInverse.y*left.z;
float vy = left.w*myInverse.y + myInverse.w*left.y + left.z*myInverse.x - myInverse.z*left.x;
float vz = left.w*myInverse.z + myInverse.w*left.z + left.x*myInverse.y - myInverse.x*left.y;
v.setValue(vx, vy, vz);
}