Distorted Android

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

// return quat1*quat2

  public static float[] quatMultiply( float[] quat1, float[] quat2 )

    {

    float qx = quat1[0];

    float qy = quat1[1];

    float qz = quat1[2];

    float qw = quat1[3];

    float rx = quat2[0];

    float ry = quat2[1];

    float rz = quat2[2];

    float rw = quat2[3];

    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 float[] {tx,ty,tz,tw};

    }

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

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

  public static void rotateVectorByQuat(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);

    }