Multiplies two quaternions.
Multiplies two quaternions, storing the result in out. The resulting
quaternion will have the same effect as the combination of p and q, ie.
when applied to a point, (point * out) = ((point * p) * q). Any number of
rotations can be concatenated in this way. Note that quaternion
multiplication is not commutative, ie. quat_mul(p, q) != quat_mul(q, p).
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