internal static MyVec AddVector3(MyVec v1, MyVec v2)
{
MyVec result;
result.x = v1.x + v2.x;
result.y = v1.y + v2.y;
result.z = v1.z + v2.z;
return(result);
}
internal static MyVec ScaleVector3(MyVec v, float scalar)
{
MyVec result;
result.x = v.x * scalar;
result.y = v.y * scalar;
result.z = v.z * scalar;
return(result);
}
internal static MyVec Vector3CrossProduct(MyVec v1, MyVec v2)
{
MyVec result;
result.x = (v1.y * v2.z) - (v1.z * v2.y);
result.y = (v1.z * v2.x) - (v1.x * v2.z);
result.z = (v1.x * v2.y) - (v1.y * v2.x);
return(result);
}
internal static MyQuat Rotate(MyQuat currentRotation, MyVec axis, float angle)
{
//takes currentRotation, and calculates a new quaternion rotated by an angle "angle" along the normalized axis "axis"
MyQuat result, quat2;
MyVec qV2;
//Create a second quaternion from the axis and angle:
float theta = ((float)Math.PI / 180) * angle; //convert euler angle to radians (theta)!!
quat2.w = (float)Math.Cos(theta / 2);
qV2 = ScaleVector3(axis, (float)Math.Sin(theta / 2));
quat2.x = qV2.x;
quat2.y = qV2.y;
quat2.z = qV2.z;
//Multiply both quaternions to implement the rotation:
result = Multiply(currentRotation, quat2);
return(result);
}
internal static float Vector3DotProduct(MyVec v1, MyVec v2)
{
float result = (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
return(result);
}