public Quaternion multLocal(float qx, float qy, float qz, float qw) {
        float x1 = x * qw + y * qz - z * qy + w * qx;
        float y1 = -x * qz + y * qw + z * qx + w * qy;
        float z1 = x * qy - y * qx + z * qw + w * qz;
        w = -x * qx - y * qy - z * qz + w * qw;
        x = x1;
        y = y1;
        z = z1;
        return this;
    }