Merge remote-tracking branch 'upstream/master' into nx

# Conflicts:
#	src/core/CMakeLists.txt
#	src/core/arm/dynarmic/arm_dynarmic.cpp
#	src/core/arm/dyncom/arm_dyncom.cpp
#	src/core/hle/kernel/process.cpp
#	src/core/hle/kernel/thread.cpp
#	src/core/hle/kernel/thread.h
#	src/core/hle/kernel/vm_manager.cpp
#	src/core/loader/3dsx.cpp
#	src/core/loader/elf.cpp
#	src/core/loader/ncch.cpp
#	src/core/memory.cpp
#	src/core/memory.h
#	src/core/memory_setup.h

1 files changed, 5 insertions, 0 deletions

diff --git a/src/common/quaternion.h b/src/common/quaternion.h
index 84ac82ed3..77f626bcb 100644
--- a/src/common/quaternion.h
+++ b/src/common/quaternion.h
@@ -30,6 +30,11 @@ public:
         return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
                 w * other.w - Dot(xyz, other.xyz)};
     }
+
+    Quaternion<T> Normalized() const {
+        T length = std::sqrt(xyz.Length2() + w * w);
+        return {xyz / length, w / length};
+    }
 };
 
 template <typename T>