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[Math/Quaternion] Optimized the quaternion/vector multiplication

- It allows a speedup of about 1.5x: https://quick-bench.com/q/S9_OOHC7hm0uthazzIKUqyBrLZE
  - Clang reports a speedup of 3x, but the assembly for the initial case is worse than GCC's

- It is based off https://fgiesen.wordpress.com/2019/02/09/rotating-a-single-vector-using-a-quaternion/

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