fn quat_inv(q_bhj4: Tensor<4>) -> Tensor<4>Expand description
Quaternion inverse q⁻¹ = q* / ‖q‖², with ‖q‖² floored by div_eps.
(Used on 1 − α q, whose norm is bounded below by 1 − α > 0.)
fn quat_inv(q_bhj4: Tensor<4>) -> Tensor<4>Quaternion inverse q⁻¹ = q* / ‖q‖², with ‖q‖² floored by div_eps.
(Used on 1 − α q, whose norm is bounded below by 1 − α > 0.)