acg_exp2/vshader36.glsl

#version 150

in vec4 vPosition;
in vec4 vColor;
out vec4 color;

uniform vec4 move;
uniform vec4 rquat; // rotation quaternion
// quaternion multiplier
vec4 multq(vec4 a, vec4 b) {
  return (vec4(a.x * b.x - dot(a.yzw, b.yzw),
               a.x * b.yzw + b.x * a.yzw + cross(b.yzw, a.yzw)));
}
// inverse quaternion
vec4 invq(vec4 a) { return (vec4(a.x, -a.yzw) / dot(a, a)); }
void main() {
  vec4 p;
  p = vec4(0.0, vPosition.xyz);            // input point quaternion
  p = multq(rquat, multq(p, invq(rquat))); // rotated point quaternion

  gl_Position = vec4(p.yzw, 1.0) + move;          // back to homogeneous coordinates
  color = vColor;
}