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There was a bug in the mulQuat multiplication
We were doing:
vz + uv_z * w2 + (qz * uv_y - qy * uv_x) * 2 instead of vz + uv_z * w2 + (qx * uv_y - qy * uv_x) * 2
I also optimized the function to use SIMD vectorized methods.