Vector3 Quaternion_multiplyVector3(Quaternion quaternion, Vector3 vector) {
Quaternion vectorQuaternion, inverseQuaternion, result;
vectorQuaternion = Quaternion_fromVector(vector);
inverseQuaternion = Quaternion_inverted(quaternion);
result = Quaternion_multiplied(quaternion, Quaternion_multiplied(vectorQuaternion, inverseQuaternion));
return Quaternion_toVector(result);
}
void Quaternion_multiply(Quaternion * quaternion1, Quaternion quaternion2) {
Vector3 vector1, vector2, cross;
float angle;
vector1 = Quaternion_toVector(*quaternion1);
vector2 = Quaternion_toVector(quaternion2);
angle = (quaternion1->w * quaternion2.w) - Vector3_dot(vector1, vector2);
cross = Vector3_cross(vector1, vector2);
vector1.x *= quaternion2.w;
vector1.y *= quaternion2.w;
vector1.z *= quaternion2.w;
vector2.x *= quaternion1->w;
vector2.y *= quaternion1->w;
vector2.z *= quaternion1->w;
quaternion1->x = vector1.x + vector2.x + cross.x;
quaternion1->y = vector1.y + vector2.y + cross.y;
quaternion1->z = vector1.z + vector2.z + cross.z;
quaternion1->w = angle;
}
void Quaternion_multiply(Quaternion * quaternion1, Quaternion quaternion2) {
vect3D vector1, vector2, cross;
int32 angle;
vector1 = Quaternion_toVector(*quaternion1);
vector2 = Quaternion_toVector(quaternion2);
angle = mulf32(quaternion1->w, quaternion2.w) - dotProduct(vector1, vector2);
cross = vectProduct(vector1, vector2);
vector1.x = mulf32(vector1.x, quaternion2.w);
vector1.y = mulf32(vector1.y, quaternion2.w);
vector1.z = mulf32(vector1.z, quaternion2.w);
vector2.x = mulf32(vector2.x, quaternion1->w);
vector2.y = mulf32(vector2.y, quaternion1->w);
vector2.z = mulf32(vector2.z, quaternion1->w);
quaternion1->x = vector1.x + vector2.x + cross.x;
quaternion1->y = vector1.y + vector2.y + cross.y;
quaternion1->z = vector1.z + vector2.z + cross.z;
quaternion1->w = angle;
}