Distorted Android

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

// return quat1*(rx,ry,rz,rw)

  public static Static4D quatMultiply( Static4D quat1, float rx, float ry, float rz, float rw )

    {

    float qx = quat1.get0();

    float qy = quat1.get1();

    float qz = quat1.get2();

    float qw = quat1.get3();

    float tx = rw*qx - rz*qy + ry*qz + rx*qw;

    float ty = rw*qy + rz*qx + ry*qw - rx*qz;

    float tz = rw*qz + rz*qw - ry*qx + rx*qy;

    float tw = rw*qw - rz*qz - ry*qy - rx*qx;

    return new Static4D(tx,ty,tz,tw);

    }

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

// return (qx,qy,qz,qw)*quat2

  public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat2 )

    {

    float rx = quat2.get0();

    float ry = quat2.get1();

    float rz = quat2.get2();

    float rw = quat2.get3();

    float tx = rw*qx - rz*qy + ry*qz + rx*qw;

    float ty = rw*qy + rz*qx + ry*qw - rx*qz;

    float tz = rw*qz + rz*qw - ry*qx + rx*qy;

    float tw = rw*qw - rz*qz - ry*qy - rx*qx;

    return new Static4D(tx,ty,tz,tw);

    }

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

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

  public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )

    {

    float tx = rw*qx - rz*qy + ry*qz + rx*qw;

    float ty = rw*qy + rz*qx + ry*qw - rx*qz;

    float tz = rw*qz + rz*qw - ry*qx + rx*qy;

    float tw = rw*qw - rz*qz - ry*qy - rx*qx;

    return new Static4D(tx,ty,tz,tw);

    }

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

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

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

    {

    ret[0] = rw*qx - rz*qy + ry*qz + rx*qw;

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

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

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

    }

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

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

  public static void quatMultiply( float[] ret, float[] q, float[] r )

    {

    ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3];

    ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2];

    ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1];

    ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0];

    }

    Static4D tmp = quatMultiply(qx,qy,qz,qw,vector);

    return quatMultiply(tmp,-qx,-qy,-qz,qw);

    }

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

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

  public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat)

    {

    float qx = quat.get0();

    float qy = quat.get1();

    float qz = quat.get2();

    float qw = quat.get3();

    Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w);

    return quatMultiply(tmp,-qx,-qy,-qz,qw);

    }

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

// rotate vec by quat ( i.e. return quat*vector*(quat^-1) )

  public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat)

    {

    float[] tmp = new float[4];

    quatMultiply(tmp,quat,vec);

    quat[0] = -quat[0];

    quat[1] = -quat[1];

    quat[2] = -quat[2];

    quatMultiply(output,tmp,quat);

    quat[0] = -quat[0];

    quat[1] = -quat[1];

    quat[2] = -quat[2];

    Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector);