operator * method

Rotation operator *(
  1. Rotation other
)

Implementation

Rotation operator *(Rotation other) {
  return Rotation(
    other.s * x - other.z * y + other.y * z + other.x * s,
    other.s * y + other.z * x + other.y * s - other.x * z,
    other.s * z + other.z * s - other.y * x + other.x * y,
    other.s * s - other.z * z - other.y * y - other.x * x,
  );
}