Function TriQuaternionSqrt

trinity/TriMath.cpp:288–326

}

Quaternion* TriQuaternionSqrt(
	Quaternion* out,
	const Quaternion* q1 )
{
	Quaternion test = *q1;
	*out = *q1;
	float magic1 = out->w;
	float magic = 0.99999f;
	float magic2 = magic1 + magic;
	if( 0.0f > magic2 )
	{
		Vector3 axis( out->x, out->y, out->z );
		axis *= 1000000.0f;
		axis = Normalize( axis );
		if( LengthSq( axis ) < 0.5 )
		{

			//The vector could not be normalized :-(
			out->x = 1.0f;
			out->y = 0.000f;
			out->z = 0.000f;
			out->w = 0.0f;
		}
		else
		{
			out->x = axis.x;
			out->y = axis.y;
			out->z = axis.z;
			out->w = 0.0f;
		}
		return out;
	}
	else
	{
		out->w++;
		*out = Normalize( *out );
		return out;
	}
}

Quaternion* TriQuaternionRotationArc(
	Quaternion* out,