/// <summary>
/// Sets up the frame
/// </summary>
/// <param name="position"> Frame origin </param>
/// <param name="velocity"> Velocity. Becomes frame tangent (normalised by constructor) </param>
/// <param name="acceleration"> Acceleration. Used to calculate frame normal and binormal </param>
public CurveFrame( Point3 position, Vector3 velocity, Vector3 acceleration )
{
float sqrSpeed = velocity.SqrLength;
float dotVA = velocity.Dot( acceleration );
Translation = position;
XAxis = velocity.MakeNormal( );
YAxis = ( acceleration * sqrSpeed ) - ( velocity * dotVA );
ZAxis = Vector3.Cross( XAxis, YAxis );
m_Speed = Functions.Sqrt( sqrSpeed );
// NOTE: It's quite easy to calculate curvature here (because we've got first and second derivatives, and the square of speed, ready at hand).
// I've removed the calculation because it does involve a length and a cross-product, which is a bit much if the caller isn't interested in the
// curvature value (as is likely). Call Curve.EvaluateCurvature() instead.
}
