public Vector4 RotationalGradient(Vector4 xc, Vector4 p, Vector4 translation, int xi)
{
return(VectorUtils.MultiplyWithScalar(
vector: VectorUtils.Cross(xc, translation - p),
scalar: this.distanceWeight + xi * this.intersectionWeight
));
}
public Vector4 RotationalGradient(Vector4 Xc, Vector4 p, Vector4 translation)
{
Vector4 gradient = VectorUtils.MultiplyWithScalar(
vector: VectorUtils.Cross(Xc, translation - p),
scalar: -4
);
gradient.w = 0;
return(gradient);
}