#NEWLINE# def quatposmul( qp1 , qp2 ) : #NEWLINE# #INDENT# ( q1 , _ ) = qp1 #NEWLINE# ( q2 , v2 ) = qp2 #NEWLINE# qr = quatmul ( qr , q2 ) #NEWLINE# pr = quatpostransformp ( v2 , qp1 ) #NEWLINE# return ( qr , pr )