[Resolved]MD5 file format (Doom3/Quake4) loading problem, skewed meshes

    Public Sub SetupVertexArrays(ByVal Skel As clsMD5Skeleton)
        Dim I As Integer = 0
        Dim J As Integer = 0

        For I = 0 To VertCount - 1
            Dim finalVertex As Vector3 = Vector3.Empty
            Dim finalNormal As Vector3 = Vector3.Empty
            Dim finalTangent As Vector3 = Vector3.Empty

            For J = 0 To Vert(I).countWeight - 1
                Dim pWeight As clsMD5.MD5_Weight = Weight(Vert(I).startWeight + J)
                Dim pJoint As clsMD5.MD5_Joint = Skel.Joint(pWeight.joint)

                Dim wv As Vector3 = pWeight.pos

'If I comment out this line below, I get the bottom 2 pictures.
'If not, the top 2 pictures.
                Quat_Rotate(wv, pJoint.orient)

                finalVertex += (wv + pJoint.pos) * pWeight.bias

                Dim wn As Vector3 = pWeight.norm
                Quat_Rotate(wn, pJoint.orient)
                finalNormal += wn * pWeight.bias

                Dim wt As Vector3 = pWeight.tan
                Quat_Rotate(wt, pJoint.orient)
                finalTangent += wt * pWeight.bias
            Next

            VertexArray(I) = finalVertex
            NormalArray(I) = finalNormal
            TangentArray(I) = finalTangent
        Next
    End Sub

                With j.orient
                    Dim t As Single = 1.0F - (.X * .X) - (.Y * .Y) - (.Z * .Z)

                    If t < 0 Then
                        .W = 0
                    Else
                        .W = -Sqrt(t)
                    End If
                End With

   Public Sub Quat_multVec(ByVal Q As Quaternion, ByVal v As Vector3, ByRef out As Quaternion)
        out.W = -(Q.X * v.X) - (Q.Y * v.Y) - (Q.Z * v.Z)
        out.X = (Q.W * v.X) + (Q.Y * v.Z) - (Q.Z * v.Y)
        out.Y = (Q.W * v.Y) + (Q.Z * v.X) - (Q.X * v.Z)
        out.Z = (Q.W * v.Z) + (Q.X * v.Y) - (Q.Y * v.X)
    End Sub

    Public Sub Quat_multQuat(ByVal qa As Quaternion, ByVal qb As Quaternion, ByRef out As Quaternion)
        out.W = (qa.W * qb.W) - (qa.X * qb.X) - (qa.Y * qb.Y) - (qa.Z * qb.Z)
        out.X = (qa.X * qb.W) + (qa.W * qb.X) + (qa.Y * qb.Z) - (qa.Z * qb.Y)
        out.Y = (qa.Y * qb.W) + (qa.W * qb.Y) + (qa.Z * qb.X) - (qa.X * qb.Z)
        out.Z = (qa.Z * qb.W) + (qa.W * qb.Z) + (qa.X * qb.Y) - (qa.Y * qb.X)
    End Sub

    Public Sub Quat_Rotate(ByRef V As Vector3, ByVal Q As Quaternion)
        Dim tmp As Quaternion = Nothing
        Dim inv As Quaternion = Nothing
        Dim final As Quaternion = Nothing
        inv.X = -Q.X
        inv.Y = -Q.Y
        inv.Z = -Q.Z
        inv.W = -Q.W
        Q.Normalize()
        inv.Normalize()

        Quat_multVec(Q, V, tmp)
        Quat_multQuat(tmp, inv, final)

        V.X = final.X
        V.Y = final.Y
        V.Z = final.Z
    End Sub