IC void q_scale(Fquaternion &q, float v)
{
float angl;Fvector ax;
q.get_axis_angle(ax,angl);
q.rotation(ax,angl*v);
q.normalize();
}
IC void q_add_scaled_basem( Fquaternion &q, const Fquaternion &base, const Fquaternion &q0, const Fquaternion &q1, float v1 )
{
//VERIFY(0.f =< v && 1.f >= v );
Fmatrix m0;m0.rotation(q0);
Fmatrix m,ml1;
q_scale_vs_basem( ml1, q1, base, v1 );
m.mul(m0,ml1);
q.set(m);
q.normalize();
}