System.out.println(p.conjugate().conjugate());
System.out.println(p.multiply(q));
System.out.println(q.multiply(p));
System.out.println(p.multiply(q).conjugate());
System.out.println(q.conjugate().multiply(p.conjugate()));
Quaternion r = p.normalize();
System.out.println(1-2*r.j*r.j-2*r.k*r.k);
System.out.println(r.r*r.r+r.i*r.i-r.j*r.j-r.k*r.k);