BEPUphysics

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        /// <summary>
        /// Negates the components of a quaternion.
        /// </summary>
        /// <param name="q">Quaternion to negate.</param>
        /// <returns>Negated result.</returns>
        public static Quaternion operator -(Quaternion q)
        {
            Quaternion toReturn;
            toReturn.X = q.X;
            toReturn.Y = q.Y;
            toReturn.Z = q.Z;
            toReturn.W = q.W;
            return toReturn;
}