Graphics Quanernion calculation

    // http://mathworld.wolfram.com/Quaternion.html 


float4 qmul(float4 q1, float4 q2)

{

return float4(

q2.xyz * q1.w + q1.xyz * q2.w + cross(q1.xyz, q2.xyz),

q1.w * q2.w - dot(q1.xyz, q2.xyz)

);

}

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