/** converts to quaternion */
public Quaternion quaternion() {
if (a.x + b.y + c.z >= 0) {
final float s = GMath.sqrt(1 + a.x + b.y + c.z) * 2;
return new Quaternion(s / 4, (c.y - b.z) / s, (a.z - c.x) / s, (b.x - a.y) / s);
}
if (a.x >= b.y && a.x >= c.z) {
final float s = GMath.sqrt(1 + a.x - b.y - c.z) * 2;
return new Quaternion((c.y - b.z) / s, s / 4, (a.y + b.x) / s, (c.x + a.z) / s);
}
if (b.y >= c.z) {
final float s = GMath.sqrt(1 - a.x + b.y - c.z) * 2;
return new Quaternion((a.z - c.x) / s, (a.y + b.x) / s, s / 4, (b.z + c.y) / s);
}
final float s = GMath.sqrt(1 - a.x - b.y + c.z) * 2;
return new Quaternion((b.x - a.y) / s, (c.x + a.z) / s, (b.z + c.y) / s, s / 4);
}
public float normalizeIfNot() {
float magSq = magnitudeSquared();
if (magSq != 1) {
float mag = GMath.sqrt(magSq);
this.w = w / mag;
this.x = x / mag;
this.y = y / mag;
this.z = z / mag;
return mag;
} else {
return 1;
}
}
public float magnitude() {
return GMath.sqrt(magnitudeSquared());
}
