public static Fix64Quat Inverse(Fix64Quat a)
{
long inv_norm = NativeFixedMath.Rcp64(LengthSqr(a).Raw);
return(Make(
-NativeFixedMath.Mul64(a.RawX, inv_norm),
-NativeFixedMath.Mul64(a.RawY, inv_norm),
-NativeFixedMath.Mul64(a.RawZ, inv_norm),
NativeFixedMath.Mul64(a.RawW, inv_norm)));
}
public static Fix64Quat Normalize(Fix64Quat a)
{
long inv_norm = NativeFixedMath.Rcp64(LengthFastest(a).Raw);
Fix64 x = Fix64.FromRaw(NativeFixedMath.Mul64(a.RawX, inv_norm));
Fix64 y = Fix64.FromRaw(NativeFixedMath.Mul64(a.RawY, inv_norm));
Fix64 z = Fix64.FromRaw(NativeFixedMath.Mul64(a.RawZ, inv_norm));
Fix64 w = Fix64.FromRaw(NativeFixedMath.Mul64(a.RawW, inv_norm));
return(new Fix64Quat(x, y, z, w));
}