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License: MIT License
DualQuaternion implementation
License: MIT License
This seems to be quite wrong. Normalizing a dual quaternion (or a quaternion) is being done by dividing it by the length. Not the length^2. (Which is the same as the dot product of itself: dot(real, real))
Why is it wrong?
Well, here is a unit dual quaternion:
0,0,0,1, 0,0,0,0
And here is another dual quaternion:
0,0,0,2, 0,0,0,0
This one should turn into the unit one, when passed to the normalize function. What actually happens is this:
normalize(0,0,0,2, 0,0,0,0) --> divides everything by 2^2 --> 0,0,0,0.5, 0,0,0,0
Wrong!
Now, just for fun, let's try normalizing the result:
normalize(0,0,0,0.5, 0,0,0,0) --> divides everything by 0.5^2 --> 0,0,0,2, 0,0,0,0
And, you end up with the starting one. That's just wrong.
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