From 4c487904979dcf605042a1cb3aa2636b09d74a89 Mon Sep 17 00:00:00 2001
From: lisyarus <lisyarus@gmail.com>
Date: Fri, 7 Jan 2022 23:51:34 +0300
Subject: [PATCH] Add quaternion/scalar operator & rename quaternion norm ->
 length

---
 libs/geom/include/psemek/geom/quaternion.hpp | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/libs/geom/include/psemek/geom/quaternion.hpp b/libs/geom/include/psemek/geom/quaternion.hpp
index 7941372f..c7abc87e 100644
--- a/libs/geom/include/psemek/geom/quaternion.hpp
+++ b/libs/geom/include/psemek/geom/quaternion.hpp
@@ -128,6 +128,12 @@ namespace psemek::geom
 		return {s * q.coords};
 	}
 
+	template <typename T>
+	quaternion<T> operator / (quaternion<T> const & q, T s)
+	{
+		return {q.coords / s};
+	}
+
 	template <typename T>
 	quaternion<T> operator * (quaternion<T> const & q1, quaternion<T> const & q2)
 	{
@@ -154,17 +160,23 @@ namespace psemek::geom
 	}
 
 	template <typename T>
-	T norm_sqr(quaternion<T> const & q)
+	T length_sqr(quaternion<T> const & q)
 	{
 		return length_sqr(q.coords);
 	}
 
 	template <typename T>
-	T norm(quaternion<T> const & q)
+	T length(quaternion<T> const & q)
 	{
 		return length(q.coords);
 	}
 
+	template <typename T>
+	quaternion<T> normalized(quaternion<T> const & q)
+	{
+		return {normalized(q.coords)};
+	}
+
 	template <typename T>
 	quaternion<T> conjugate(quaternion<T> const & q)
 	{
@@ -174,7 +186,7 @@ namespace psemek::geom
 	template <typename T>
 	quaternion<T> inverse(quaternion<T> const & q)
 	{
-		return {conjugate(q).coords / norm(q)};
+		return conjugate(q) / length(q);
 	}
 
 	template <typename T>