#define Quaternion float4

inline Quaternion SetAxisAngle(float3 axis, float radian)
{
    float sinValue = 0;
    float cosValue = 0;
    sincos(radian * 0.5, sinValue, cosValue);
    Quaternion q = Quaternion(sinValue * axis.xyz, cosValue);
    return q;
}

inline float3 MultiplyQP(Quaternion rotation, float3 p)
{
    float3 xyz = rotation.xyz * 2;
    float3 xx_yy_zz = rotation.xyz * xyz.xyz;
    float3 xy_xz_yz = rotation.xxy * xyz.yzz;
    float3 wx_wy_wz = rotation.www * xyz.xyz;

    float3 res;
    res.x = (1 - (xx_yy_zz.y + xx_yy_zz.z)) * p.x + (xy_xz_yz.x - wx_wy_wz.z) * p.y + (xy_xz_yz.y + wx_wy_wz.y) * p.z;
    res.y = (xy_xz_yz.x + wx_wy_wz.z) * p.x + (1 - (xx_yy_zz.x + xx_yy_zz.z)) * p.y + (xy_xz_yz.z - wx_wy_wz.x) * p.z;
    res.z = (xy_xz_yz.y - wx_wy_wz.y) * p.x + (xy_xz_yz.z + wx_wy_wz.x) * p.y + (1 - (xx_yy_zz.x + xx_yy_zz.y)) * p.z;
    return res;
}