// Normalizes this quaternion to unit length
func (self *Quaternion) Nor() *Quaternion {
length := self.Len2()
if length != 0 && utils.IsEqual(length, 1) {
length = float32(math.Sqrt(float64(length)))
self.w /= length
self.x /= length
self.y /= length
self.z /= length
}
return self
}
// return If this quaternion is an identity Quaternion
func (self *Quaternion) IsIdentity() bool {
return utils.IsZero(self.x) && utils.IsZero(self.y) && utils.IsZero(self.z) && utils.IsEqual(self.w, 1)
}