public static Cuaternion normalizar(Cuaternion Q)
{
float d = Q.modulo();
if (d > 0)
{
Q.a = Q.A / d;
Q.x = Q.X / d;
Q.y = Q.Y / d;
Q.z = Q.Z / d;
}
return(new Cuaternion(Q));
}
public static Cuaternion quater_inverso(Cuaternion Q)
{
float d = Q.modulo();
if (d > 0)
{
Q.a = Q.A;
Q.x = (-1) * Q.X;
Q.y = (-1) * Q.Y;
Q.z = (-1) * Q.Z;
}
return(new Cuaternion(Convert.ToSingle(Q.A / (Math.Pow(d, 2))),
Convert.ToSingle(Q.x / (Math.Pow(d, 2))),
Convert.ToSingle(Q.y / (Math.Pow(d, 2))),
Convert.ToSingle(Q.z / (Math.Pow(d, 2)))));
}