public static TSQuaternion Inverse(TSQuaternion rotation)
{
FP invNorm = FP.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(TSQuaternion.Multiply(TSQuaternion.Conjugate(rotation), invNorm));
}
public static TSQuaternion Inverse(TSQuaternion rotation)
{
FP scaleFactor = FP.One / (rotation.x * rotation.x + rotation.y * rotation.y + rotation.z * rotation.z + rotation.w * rotation.w);
return(TSQuaternion.Multiply(TSQuaternion.Conjugate(rotation), scaleFactor));
}