Joel

https://github.com/neka-nat/dq3d/blob/365c363a47e3ec60fce0bf7b260f1e59d3556b24/dq3d/DualQuaternion.h#L244 Hi, I think you have miscalculated the normalisation of the dual quaternion - you've already normalised both the primary and dual parts by the primary part's norm, so following...

Hi, was looking at your example for getting the transformation from the dual quaternion: ``` Transfo to_transformation() { Vec3 t; float norm = _quat_0.norm(); // Rotation matrix from non-dual quaternion...