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		return qv[0]*qv[0] + qv[1]*qv[1] + qv[2]*qv[2] + qw*qw;
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		return qv[0]*qv[0] + qv[1]*qv[1] + qv[2]*qv[2] + qw*qw;
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	}
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	}
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	inline Quaternion Quaternion::normalize()
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	inline Quaternion Quaternion::normalize()
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	{
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	{
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		return Quaternion(1.0f/norm()*(*this));
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		return Quaternion(1.0/norm()*(*this));
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	}
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	}
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	inline Quaternion Quaternion::conjugate() const
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	inline Quaternion Quaternion::conjugate() const
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	{
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	{
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		return Quaternion(-qv,qw);
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		return Quaternion(-qv,qw);
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	}
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	}
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	inline Quaternion Quaternion::inverse() const
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	inline Quaternion Quaternion::inverse() const
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	{
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	{
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		return Quaternion(1.0f/norm()*conjugate());
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		return Quaternion(1.0/norm()*conjugate());
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	}
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	}
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	/** Perform linear interpolation of two quaternions.
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	/** Perform linear interpolation of two quaternions.
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			The last argument is the parameter used to interpolate
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			The last argument is the parameter used to interpolate