public void DivisionScalar()
        {
            float       s = 123.456f;
            QuaternionF q = new QuaternionF(1.0f, 2.0f, 3.0f, 4.0f);
            QuaternionF expectedResult = new QuaternionF(1.0f / s, 2.0f / s, 3.0f / s, 4.0f / s);
            QuaternionF result         = QuaternionF.Divide(q, s);

            Assert.IsTrue(QuaternionF.AreNumericallyEqual(expectedResult, result));
        }
        public void Division()
        {
            float       angle1 = 0.4f;
            Vector3F    axis1  = new Vector3F(1.0f, 2.0f, 3.0f);
            QuaternionF q1     = QuaternionF.CreateRotation(axis1, angle1);
            Matrix33F   m1     = Matrix33F.CreateRotation(axis1, angle1);

            float       angle2 = -1.6f;
            Vector3F    axis2  = new Vector3F(1.0f, -2.0f, -3.5f);
            QuaternionF q2     = QuaternionF.CreateRotation(axis2, angle2);
            Matrix33F   m2     = Matrix33F.CreateRotation(axis2, angle2);

            Vector3F v       = new Vector3F(0.3f, -2.4f, 5.6f);
            Vector3F result1 = QuaternionF.Divide(q2, q1).Rotate(v);
            Vector3F result2 = m2 * m1.Inverse * v;

            Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
        }