void normalizeQuaternion(float q[4]){ float length = quaternionNorm(q); if (length == 0) return; q[QUAT_W] /= length; q[QUAT_X] /= length; q[QUAT_Y] /= length; q[QUAT_Z] /= length; }
void quaternionNormalize(quaternion_t q) { float length; quaternionNorm(q, &length); if (length == 0) return; q[QUAT_W] /= length; q[QUAT_X] /= length; q[QUAT_Y] /= length; q[QUAT_Z] /= length; }