public void normalise(){
  this.dirty=true;
  float mag=(float)Math.sqrt(points[3] * points[3] + points[0] * points[0] + points[1] * points[1] + points[2] * points[2]);
  points[3]=points[3] / mag;
  points[0]=points[0] / mag;
  points[1]=points[1] / mag;
  points[2]=points[2] / mag;
}

public void normalise ( ) { this . dirty = true ; float mag = ( float ) Math . sqrt ( points [ 3 ] * points [ 3 ] + points [ 0 ] * points [ 0 ] + points [ 1 ] * points [ 1 ] + points [ 2 ] * points [ 2 ] ) ; points [ 3 ] = points [ 3 ] / mag ; points [ 0 ] = points [ 0 ] / mag ; points [ 1 ] = points [ 1 ] / mag ; points [ 2 ] = points [ 2 ] / mag ; }
normalise this quaternion into a unity quaternion .
