Distorted Android

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

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

  public static Static4D rotateVectorByQuat(Static4D vector, 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,vector);

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

    }

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

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

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

    public static void rotateVectorByInvertedQuat(float[] output, 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,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw);

      }