Fix bug in quat_mul_vec3 caused by reuse of u and t in 'vec3_mul_cross'

The new implementation of `quat_mul_vec3` introduced in commit
06b68f6caa214d9f98ada28db837c21e08ed2927 incorrectly calculates 't' and
'u'. The problem's caused by the variables being used as both input and
output to `vec3_mul_cross`, which causes the variables to be corrupted
as the cross product is taken. Unlike with the simple vector operations,
input variables to vec3_mul_cross must be distinct from the output
variable.

```
static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b) {
    r[0] = a[1]*b[2] - a[2]*b[1];
    r[1] = a[2]*b[0] - a[0]*b[2];
    r[2] = a[0]*b[1] - a[1]*b[0];
}
```

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