public void Normalize()
{
float inverseLength = MathHelpers.ISqrt(X * X + Y * Y + Z * Z + W * W);
X *= inverseLength;
Y *= inverseLength;
Z *= inverseLength;
W *= inverseLength;
}
public void Normalize()
{
if (!IsValid())
{
_w = 0;
_v = new Vector3(0f, 0f, 0f);
}
var inverseLength = MathHelpers.ISqrt(_v.x * _v.x + _v.y * _v.y + _v.z * _v.z + _w * _w);
_v *= inverseLength;
_w *= inverseLength;
}
public void ClampLength(float maxLength)
{
float sqrLength = LengthSquared;
if (sqrLength > (maxLength * maxLength))
{
var scale = maxLength * MathHelpers.ISqrt(sqrLength);
X *= scale;
Y *= scale;
Z *= scale;
}
}
public void NormalizeSafe()
{
float d = W * W + V.X * V.X + V.Y * V.Y + V.Z * V.Z;
if (d > 1e-8f)
{
d = MathHelpers.ISqrt(d);
W *= d; V.X *= d; V.Y *= d; V.Z *= d;
}
else
{
SetIdentity();
}
}
public void SetFromToRotation(Vector3 fromDirection, Vector3 toDirection)
{
float dot = fromDirection.x * toDirection.x + fromDirection.y * toDirection.y + fromDirection.z * toDirection.z + 1.0f;
if (dot > 0.0001f)
{
float vx = fromDirection.y * toDirection.z - fromDirection.z * toDirection.y;
float vy = fromDirection.z * toDirection.x - fromDirection.x * toDirection.z;
float vz = fromDirection.x * toDirection.y - fromDirection.y * toDirection.x;
float d = MathHelpers.ISqrt(dot * dot + vx * vx + vy * vy + vz * vz);
_w = dot * d;
_v.x = vx * d;
_v.y = vy * d;
_v.z = vz * d;
return;
}
w = 0;
v = fromDirection.Orthogonal.Normalized;
}
public void Normalize()
{
float d = MathHelpers.ISqrt(W * W + V.X * V.X + V.Y * V.Y + V.Z * V.Z);
W *= d; V.X *= d; V.Y *= d; V.Z *= d;
}
public void Normalize()
{
float fInvLen = MathHelpers.ISqrt(X * X + Y * Y + Z * Z);
X *= fInvLen; Y *= fInvLen; Z *= fInvLen;
}
