Improved accuracy of Quaternion::Normalize

src/Quaternion.cpp

@@ -58,20 +58,21 @@ float Quaternion::GetLengthSquared(const Quaternion& q) {
 }
 
 void Quaternion::Normalize() {
-	float scale = 1.0f / GetLength();
+	float length = GetLength();
-	x *= scale;
+	x /= length;
-	y *= scale;
+	y /= length;
-	z *= scale;
+	z /= length;
-	w *= scale;
+	w /= length;
 }
 
 Quaternion Quaternion::Normalize(const Quaternion& q) {
 	Quaternion result;
-	float scale = 1.0f / q.GetLength();
+	float length = q.GetLength();
-	result = Quaternion(q.x * scale, q.y * scale, q.z * scale, q.w * scale);
+	result = Quaternion(q.x / length, q.y / length, q.z / length, q.w / length);
 	return result;
 };
 
+
 float Quaternion::Dot(Quaternion a, Quaternion b) {
 	return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
 }