code: public Vector3d normalizedPositiveX(Vector3d dir) {
          double dy = y + y;
          double dz = z + z;
          dir.x = -y * dy - z * dz + 1.0;
          dir.y =  x * dy - w * dz;
          dir.z =  x * dz + w * dy;
          return dir;
      }
docs: /* (non-Javadoc)
  @see org.joml.Quaterniondc#normalizedPositiveX(org.joml.Vector3d)