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-rw-r--r--src/math/Quaternion.h12
1 files changed, 12 insertions, 0 deletions
diff --git a/src/math/Quaternion.h b/src/math/Quaternion.h
index fb37dc10..1d04bdff 100644
--- a/src/math/Quaternion.h
+++ b/src/math/Quaternion.h
@@ -10,6 +10,18 @@ public:
float Magnitude(void) const { return Sqrt(x*x + y*y + z*z + w*w); }
float MagnitudeSqr(void) const { return x*x + y*y + z*z + w*w; }
+ void Normalise(void) {
+ float sq = MagnitudeSqr();
+ if(sq == 0.0f)
+ w = 1.0f;
+ else{
+ float invsqrt = RecipSqrt(sq);
+ x *= invsqrt;
+ y *= invsqrt;
+ z *= invsqrt;
+ w *= invsqrt;
+ }
+ }
const CQuaternion &operator+=(CQuaternion const &right) {
x += right.x;