code: public Quaternionf premul(Quaternionfc q, Quaternionf dest) {
          dest.set(q.w() * x + q.x() * w + q.y() * z - q.z() * y,
                   q.w() * y - q.x() * z + q.y() * w + q.z() * x,
                   q.w() * z + q.x() * y - q.y() * x + q.z() * w,
                   q.w() * w - q.x() * x - q.y() * y - q.z() * z);
          return dest;
      }
docs: /* (non-Javadoc)
  @see org.joml.Quaternionfc#premul(org.joml.Quaternionfc, org.joml.Quaternionf)