`rotate`

template <typename T>
Vector3T< T > rotate(const QuaternionT< T > &q, const Vector3T< T > &v) noexcept

Parameters

Name	Type
`q`	`const QuaternionT< T > &`
`v`	`const Vector3T< T > &`

Vector3T< T >

Rotates v by unit quaternion q.

Uses the standard two-cross-product form (no matrix build): with qv = (q.x, q.y, q.z), v' = v + 2*w*(qv x v) + 2*(qv x (qv x v)).