#include "ref.h"

void ref_quaternion_normalize_f32(const float32_t *pInputQuaternions, 
    float32_t *pNormalizedQuaternions, 
    uint32_t nbQuaternions)
{
   float32_t temp;

   for(uint32_t i=0; i < nbQuaternions; i++)
   {
      temp = SQ(pInputQuaternions[4 * i + 0]) +
             SQ(pInputQuaternions[4 * i + 1]) +
             SQ(pInputQuaternions[4 * i + 2]) +
             SQ(pInputQuaternions[4 * i + 3]);
      temp = sqrtf(temp);

      pNormalizedQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
      pNormalizedQuaternions[4 * i + 1] = pInputQuaternions[4 * i + 1] / temp;
      pNormalizedQuaternions[4 * i + 2] = pInputQuaternions[4 * i + 2] / temp;
      pNormalizedQuaternions[4 * i + 3] = pInputQuaternions[4 * i + 3] / temp;
   }
}