/// <summary>
/// Normalizes a homogenous vector to unit length
/// </summary>
public static Vec4 Normalize(Vec4 vec)
{
vec = NormW(vec);
double l = Math.Sqrt(vec.X * vec.X + vec.Y * vec.Y + vec.Z * vec.Z);
if (l > 0)
{
l = 1 / l;
return(new Vec4(vec.X * l, vec.Y * l, vec.Z * l, 1));
}
return(new Vec4(0, 0, 0, vec.W));
}
public static Vec3 FromHomo(Vec4 h)
{
return(new Vec3(h.X / h.W, h.Y / h.W, h.Z / h.W));
}