rotate method

Implementation

Vector3 rotate(Vector3 v) {
  // conjugate(this) * [v,0] * this
  final double w = _qStorage[3];
  final double z = _qStorage[2];
  final double y = _qStorage[1];
  final double x = _qStorage[0];
  final tiw = w;
  final double tiz = -z;
  final double tiy = -y;
  final double tix = -x;
  final double tx = tiw * v.x + tix * 0.0 + tiy * v.z - tiz * v.y;
  final double ty = tiw * v.y + tiy * 0.0 + tiz * v.x - tix * v.z;
  final double tz = tiw * v.z + tiz * 0.0 + tix * v.y - tiy * v.x;
  final double tw = tiw * 0.0 - tix * v.x - tiy * v.y - tiz * v.z;
  final double resultX = tw * x + tx * w + ty * z - tz * y;
  final double resultY = tw * y + ty * w + tz * x - tx * z;
  final double resultZ = tw * z + tz * w + tx * y - ty * x;
  final Float64List vStorage = v.storage;
  vStorage[2] = resultZ;
  vStorage[1] = resultY;
  vStorage[0] = resultX;
  return v;
}