public FixVector3 GetNormalized()
{
FixVector3 v = new FixVector3(this);
v.Normalize();
return(v);
}
public static void LookAt(FixVector3 forward, FixVector3 upwards, out FixMatrix result)
{
FixVector3 zaxis = forward; zaxis.Normalize();
FixVector3 xaxis = FixVector3.Cross(upwards, zaxis); xaxis.Normalize();
FixVector3 yaxis = FixVector3.Cross(zaxis, xaxis);
result.M11 = xaxis.x;
result.M21 = yaxis.x;
result.M31 = zaxis.x;
result.M12 = xaxis.y;
result.M22 = yaxis.y;
result.M32 = zaxis.y;
result.M13 = xaxis.z;
result.M23 = yaxis.z;
result.M33 = zaxis.z;
}
public static FixQuaternion AngleAxis(Fix64 angle, FixVector3 axis)
{
axis = axis * Fix64.Deg2Rad;
axis.Normalize();
Fix64 halfAngle = angle * Fix64.Deg2Rad * Fix64.Half;
FixQuaternion rotation;
Fix64 sin = Fix64.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = Fix64.Cos(halfAngle);
return(rotation);
}