Dual Qaternion Vec3 Transform function in GLSL

dual_quaternion_vec3_transform.glsl

vec3 dqVecTransform(mat2x4 dq, vec3 v){
    vec4 Qr 	= dq[0].xyzw; //real (rot)
    vec4 Qd 	= dq[1].xyzw; //dual (trans)
    vec3 pos	= v + cross(2.0 * Qr.xyz, cross(Qr.xyz, v) + Qr.w * v);	          //Rotate Vector
    vec3 tran	= 2.0 * (Qr.w * Qd.xyz - Qd.w * Qr.xyz + cross(Qr.xyz, Qd.xyz));	//Pull out Translation from DQ
    return pos + tran;
}

//For Joint / Bone Transformation, you need to blend weighted dual quaternions that you can then apply to a vertex.
//This sample is for just two joints, but I commented out use of 4 joints total which is enough for any skinning needs.
vec3 dqWeightTransform_2(vec3 vpos, mat2x4[60] jDQ, vec4 jIndex, vec4 jWeight){
    /* NORMALIZE DATA First */
    float t 		= 	1.0 / (jWeight.x + jWeight.y); // + jWeight.z + jWeight.w
    mat2x4 dqSum 	=	jDQ[ int( jIndex.x ) ] * jWeight.x * t +
                        jDQ[ int( jIndex.y ) ] * jWeight.y * t;
                        //jDQ[ int( jIndex.z ) ] * jWeight.z * t;
                        //jDQ[ int( jIndex.w ) ] * jWeight.w * t;
    return dqVecTransform(dqSum, vpos);
}