Distorted Android

///////////////////////////////////////////////////////////////////////////////////////////////////

// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)

  private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )

    {

    ret[index  ] = rw*qx - rz*qy + ry*qz + rx*qw;

    ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz;

    ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy;

    ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx;

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )

  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat)

    {

    float[] tmp = new float[4];

    float qx = quat.get0();

    float qy = quat.get1();

    float qz = quat.get2();

    float qw = quat.get3();

    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);

    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )

  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat)

    {

    float[] tmp = new float[4];

    float qx = quat[0];

    float qy = quat[1];

    float qz = quat[2];

    float qw = quat[3];

    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);

    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);

    }