Float Quaternion Multiply

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#include <math.h>
int qdotq(float *p,float *q, float *r)
/* product (r) of qutonians p and q */
/* 0 = real, 1=i, 2=j, 3=k          */
/* ges 042709                       */
{
 r[0]=p[0]*q[0]-p[1]*q[1]-p[2]*q[2]-p[3]*q[3];
 r[1]=p[1]*q[0]+p[0]*q[1]-p[3]*q[2]+p[2]*q[3];
 r[2]=p[2]*q[0]+p[3]*q[1]+p[0]*q[2]-p[1]*q[3];
 r[3]=p[3]*q[0]-p[2]*q[1]+p[1]*q[2]+p[0]*q[3];
} /* End qdotq */
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