Hello!

In ext/quaternion_transform.inl
function rotate definition's last line...

return q * qua<T, Q>(cos(AngleRad * static_cast(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);

seems to be mistaken, and should be...

return qua<T, Q>(cos(AngleRad * static_cast(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin) * q;

below is snippet from my program...

//drag_ = glm::rotate(orig_, 2 * ar, vec3(dy, dx, 0.f)); // doesn't work
glm::quat dq = glm::rotate(glm::quat(1, 0, 0, 0), 2 * ar, vec3(dy, dx, 0.f)); drag_ = dq * orig_; // ok.

I want to add another rotation over orig_, but first line doesn't work.

Sorry for my poor English. (I'm Japanese.)