/**
* Returns the division of this quaternion by another.
*
* @param q a quaternion
* @exception ArithmeticException If divide by zero.
*/
public Quaternion divide(final Quaternion q) {
final double qSumSqr = q.sumSquares();
return new Quaternion(
(re * q.re + imi * q.imi + imj * q.imj + imk * q.imk) / qSumSqr,
(q.re * imi - re * q.imi - (imj * q.imk - q.imj * imk)) / qSumSqr,
(q.re * imj - re * q.imj - (imk * q.imi - q.imk * imi)) / qSumSqr,
(q.re * imk - re * q.imk - (imi * q.imj - q.imi * imj)) / qSumSqr);
}
