123 void inv_q_normalize(long *q)  in inv_q_normalize()  argument
129         normSF += ((double)q[i]) / 1073741824L * ((double)q[i]) / 1073741824L;  in inv_q_normalize()
134             q[i] = (int)((double)q[i] * normSF);  in inv_q_normalize()
137         q[0] = 1073741824L;  in inv_q_normalize()
138         q[1] = 0;  in inv_q_normalize()
139         q[2] = 0;  in inv_q_normalize()
140         q[3] = 0;  in inv_q_normalize()
144 void inv_q_invert(const long *q, long *qInverted)  in inv_q_invert()  argument
147     qInverted[0] = q[0];  in inv_q_invert()
148     qInverted[1] = -q[1];  in inv_q_invert()
149     qInverted[2] = -q[2];  in inv_q_invert()
150     qInverted[3] = -q[3];  in inv_q_invert()
171 void inv_q_normalizef(float *q)  in inv_q_normalizef()  argument
176     normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);  in inv_q_normalizef()
183         q[0] *= normSF;  in inv_q_normalizef()
184         q[1] *= normSF;  in inv_q_normalizef()
185         q[2] *= normSF;  in inv_q_normalizef()
186         q[3] *= normSF;  in inv_q_normalizef()
188         q[0] = 1.0;  in inv_q_normalizef()
189         q[1] = 0.0;  in inv_q_normalizef()
190         q[2] = 0.0;  in inv_q_normalizef()
191         q[3] = 0.0;  in inv_q_normalizef()
193     normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);  in inv_q_normalizef()
199 void inv_q_norm4(float *q)  in inv_q_norm4()  argument
202     mag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);  in inv_q_norm4()
204         q[0] /= mag;  in inv_q_norm4()
205         q[1] /= mag;  in inv_q_norm4()
206         q[2] /= mag;  in inv_q_norm4()
207         q[3] /= mag;  in inv_q_norm4()
209         q[0] = 1.f;  in inv_q_norm4()
210         q[1] = 0.f;  in inv_q_norm4()
211         q[2] = 0.f;  in inv_q_norm4()
212         q[3] = 0.f;  in inv_q_norm4()
216 void inv_q_invertf(const float *q, float *qInverted)  in inv_q_invertf()  argument
219     qInverted[0] = q[0];  in inv_q_invertf()
220     qInverted[1] = -q[1];  in inv_q_invertf()
221     qInverted[2] = -q[2];  in inv_q_invertf()
222     qInverted[3] = -q[3];  in inv_q_invertf()