public static class QuaternionExtensions {

	//-----------------------------------------------------------------------------------------
	// Public Methods:
	//-----------------------------------------------------------------------------------------

	/// <summary>Returns a <c>Quaternion</c> with the same orientation but with a magnitude of 1.</summary>
	public static Quaternion Normalise(this Quaternion self) {

		// work out the magnitude, and if it's too small, return identity.
		float magnitude = Mathf.Sqrt(Quaternion.Dot(self, self));
		if (magnitude < Mathf.Epsilon) return Quaternion.identity;

		return new Quaternion(self.x / magnitude, self.y / magnitude, self.z / magnitude, self.w / magnitude);
	}
}