Float Quaternion Normalise
From OpenLuna
int qnorm(float *q,float *qcq) /* normalizes qutonian q so that ||q|| = 1 */ /* don't forget math.h ges 042709 */ /* could use a sqrt function */ { *qcq=sqrt(q[0]*q[0]+q[1]*q[1]+q[2]*q[2]+q[3]*q[3]); q[0]=q[0]/ *qcq; q[1]=q[1]/ *qcq; q[2]=q[2]/ *qcq; q[3]=q[3]/ *qcq; } /* end of qnorm */