public Quaternion multLocal(float scalar) { w*=scalar; x*=scalar; y*=scalar; z*=scalar; return this;
public Vector3f multLocal(Vector3f v) { float tempX, tempY; tempX =   w*w*v.x + 2*y*w*v.z - 2*z*w*v.y +   x*x*v.x + 2*y*x*v.y + 2*z*x*v.z -   z*z*v.x - y*y*v.x; tempY = 2*x*y*v.x +   y*y*v.y + 2*z*y*v.z + 2*w*z*v.x -   z*z*v.y +   w*w*v.y - 2*x*w*v.z - x*x*v.y; v.z = 2*x*z*v.x + 2*y*z*v.y +   z*z*v.z - 2*w*y*v.x -   y*y*v.z + 2*w*x*v.y -   x*x*v.z + w*w*v.z; v.x = tempX; v.y = tempY; return v;
    public Quaternion multLocal(float scalar) {        w*=scalar;        x*=scalar;        y*=scalar;        z*=scalar;        return this;    }