n_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(&amp;qtmp, q);
<a name="l00166"></a>00166 
<a name="l00167"></a>00167     q-&gt;w = qtmp.w*rhs-&gt;w - qtmp.x*rhs-&gt;x - qtmp.y*rhs-&gt;y - qtmp.z*rhs-&gt;z;
<a name="l00168"></a>00168     q-&gt;x = qtmp.w*rhs-&gt;x + qtmp.x*rhs-&gt;w + qtmp.y*rhs-&gt;z - qtmp.z*rhs-&gt;y;
<a name="l00169"></a>00169     q-&gt;y = qtmp.w*rhs-&gt;y + qtmp.y*rhs-&gt;w + qtmp.z*rhs-&gt;x - qtmp.x*rhs-&gt;z;
<a name="l00170"></a>00170     q-&gt;z = qtmp.w*rhs-&g