code: public Vector3f normalizedPositiveY(Vector3f dir) {
          float dx = x + x;
          float dy = y + y;
          float dz = z + z;
          dir.x =  x * dy + w * dz;
          dir.y = -x * dx - z * dz + 1.0f;
          dir.z =  y * dz - w * dx;
          return dir;
      }
docs: /* (non-Javadoc)
  @see org.joml.Quaternionfc#normalizedPositiveY(org.joml.Vector3f)