void PLTools::Rotate(const Quat &qQuat, Point3 &vVector)
{
Quat qRes = qQuat.Conjugate()*Quat(vVector.x, vVector.y, vVector.z, 0.0f)*qQuat;
vVector.x = qRes.x;
vVector.y = qRes.y;
vVector.z = qRes.z;
}
Quat Quat::Conjugated() const
{
Quat copy = *this;
copy.Conjugate();
return copy;
}