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Math: How to normalize a vector
Problem:
When dealing with 3D lighting or rotation quaternions, it is sometimes useful to normalize a vector; that is to recalculate the vector so that its magnitude becomes 1
 
Solution:
Divide each axis by the vector magnitude:

magnitude = sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] );
v[0] = v[0] / magnitude;
v[1] = v[1] / magnitude;
v[2] = v[2] / magnitude;

 
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