In quaternion.h, the invert() operation computes "norm" as a sum of
squares. Surely there should be a square root.
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By definition norm is square root of the sum of the squares
of the components.
Don't know why, but in some places you see a reference to
norm (on quaternions) without the square root. This is NOT
the norm, however, the formula is correct, it doesn't use
the square root.
As the _real_ norm isn't really used for anything on the
quaternions, there's no problem in using that name.