Incorrect calculation of normalisation

[jwpleow]

dq3d/dq3d/DualQuaternion.h

Line 244 in 365c363

m_dual.coeffs() -= (m_real.coeffs().dot(m_dual.coeffs()) * lengthSqr) * m_real.coeffs();

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 the equation in https://math.stackexchange.com/questions/4445771/normalizing-a-dual-quaternion, you should only need to subtract the dual part by the dot product multipled by m_real, without needing the * lengthSqr?