The inverse of a quaternion q.

Lets assume q is normalized, i.e. |q| = 1.


Usually, normalized quaternions are associated,
with rotations in R³. Rotations in R³ are
orthogonal matrices...

First off all, you missed the definition of the
scalar-product (dot product). But I guess it is a
typo in your post, since we multiply the components
of the two vectors and then add the result...

Well, for a 10-fold speed-up people
would kill. http://www.opengl.org/discussion_boards/ubb/wink.gif

m i s s i l e

Greetings!

The problem in you code is rather trivial
(if one understands)! You do a lot of really
UNNECESSARY copy operations. In general,
parallel addition is faster then sequential ...