multiplyQuaternions method

Quaternion multiplyQuaternions(
  1. Quaternion a,
  2. Quaternion b
)

Multiplies two given quaternions and stores the result in this quaternion.

Implementation

Quaternion multiplyQuaternions(Quaternion a, Quaternion b ) {
	final qax = a.x, qay = a.y, qaz = a.z, qaw = a.w;
	final qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;

	x = ( qax * qbw ) + ( qaw * qbx ) + ( qay * qbz ) - ( qaz * qby );
	y = ( qay * qbw ) + ( qaw * qby ) + ( qaz * qbx ) - ( qax * qbz );
	z = ( qaz * qbw ) + ( qaw * qbz ) + ( qax * qby ) - ( qay * qbx );
	w = ( qaw * qbw ) - ( qax * qbx ) - ( qay * qby ) - ( qaz * qbz );

	return this;
}