Unity坐标系规范化四元数

Unity坐标系规范化四元数 

inline float MagnitudeSqr(glm::quat q)//模长平方
{
    return Dot(q, q);// q.x*q.x+q.y*q.y+q.z*q.z+q.w*q.w;
}

inline float Magnitude(glm::quat q)//模长
{
    return glm::sqrt(MagnitudeSqr(q));
}


inline glm::quat Normalize(glm::quat q)
{
    float Length = Magnitude(q);
    if ((double) Length > 9.99999974737875E-06)
    {
        return q/Length;
    }
    else
    {
        return glm::quat(1.0, 0.0, 0.0, 0.0);
    }
}