OpenTK.Quaterniond.Normalize C# (CSharp) Method

        public static Quaterniond Normalize(Quaterniond q)
        {
            Quaterniond result;
            Normalize(ref q, out result);
            return result;
        }

        /// <summary>Constructs left matrix from the given quaternion.</summary>
        /// <param name="quaternion">The quaternion to use to construct the martix.</param>
        public Matrix3d(Quaterniond quaternion)
        {
            quaternion.Normalize();

            double xx = quaternion.X * quaternion.X;
            double yy = quaternion.Y * quaternion.Y;
            double zz = quaternion.Z * quaternion.Z;
            double xy = quaternion.X * quaternion.Y;
            double xz = quaternion.X * quaternion.Z;
            double yz = quaternion.Y * quaternion.Z;
            double wx = quaternion.W * quaternion.X;
            double wy = quaternion.W * quaternion.Y;
            double wz = quaternion.W * quaternion.Z;

            R0C0 = 1 - 2 * (yy + zz);
            R0C1 = 2 * (xy - wz);
            R0C2 = 2 * (xz + wy);

            R1C0 = 2 * (xy + wz);
            R1C1 = 1 - 2 * (xx + zz);
            R1C2 = 2 * (yz - wx);

            R2C0 = 2 * (xz - wy);
            R2C1 = 2 * (yz + wx);
            R2C2 = 1 - 2 * (xx + yy);
        }