///< Normalizes a quaternion
kmQuaternion* kmQuaternionNormalize(kmQuaternion* pOut,
const kmQuaternion* pIn)
{
kmScalar length = kmQuaternionLength(pIn);
assert(fabs(length) > kmEpsilon);
kmQuaternionScale(pOut, pIn, 1.0f / length);
return pOut;
}
/**< Returns the inverse of the passed Quaternion*/
kmQuaternion* kmQuaternionInverse(kmQuaternion* pOut,
const kmQuaternion* pIn)
{
kmScalar l = kmQuaternionLength(pIn);
if (fabs(l) < kmEpsilon)
{
pOut->x = 0.0;
pOut->y = 0.0;
pOut->z = 0.0;
pOut->w = 0.0;
return pOut;
}
pOut->x = -pIn->x;
pOut->y = -pIn->y;
pOut->z = -pIn->z;
pOut->w = pIn->w;
return pOut;
}
/**< Normalizes a quaternion*/
kmQuaternion* kmQuaternionNormalize(kmQuaternion* pOut,
const kmQuaternion* pIn)
{
kmScalar length = kmQuaternionLength(pIn);
if (fabs(length) < kmEpsilon)
{
pOut->x = 0.0;
pOut->y = 0.0;
pOut->z = 0.0;
pOut->w = 0.0;
return pOut;
}
kmQuaternionFill(pOut,
pOut->x / length,
pOut->y / length,
pOut->z / length,
pOut->w / length
);
return pOut;
}
///< Returns the inverse of the passed Quaternion
kmQuaternion* kmQuaternionInverse(kmQuaternion* pOut,
const kmQuaternion* pIn)
{
kmScalar l = kmQuaternionLength(pIn);
kmQuaternion tmp;
if (fabs(l) > kmEpsilon)
{
pOut->x = 0.0;
pOut->y = 0.0;
pOut->z = 0.0;
pOut->w = 0.0;
return pOut;
}
///Get the conjugute and divide by the length
kmQuaternionScale(pOut,
kmQuaternionConjugate(&tmp, pIn), 1.0f / l);
return pOut;
}