static void quaternion_inv(const struct quaternion *q, struct quaternion *q_inv)
{
float mag = quaternion_magnitude(q);
quaternion_unit_inv(q, q_inv);
q_inv->w /= mag * mag;
q_inv->x /= mag * mag;
q_inv->y /= mag * mag;
q_inv->z /= mag * mag;
}
/**
* @ingroup quaternion
* @brief Constrains the values to sane values. If this is done enough times during the course of program execution, it has the effect of keeping the values on the manifold.
*
*/
HYPAPI quaternion * quaternion_normalize(quaternion *self)
{
float mag;
mag = quaternion_magnitude(self);
if (mag == 0.0f)
{
/* can't normalize a zero
* avoid divide by zero
*/
return self;
}
self->x /= mag;
self->y /= mag;
self->z /= mag;
self->w /= mag;
return self;
}
