public static TSVector3 Normalize(TSVector3 value)
{
TSVector3 result;
TSVector3.Normalize(ref value, out result);
return(result);
}
public static void LookAt(TSVector3 forward, TSVector3 upwards, out TSMatrix result)
{
TSVector3 zaxis = forward; zaxis.Normalize();
TSVector3 xaxis = TSVector3.Cross(upwards, zaxis); xaxis.Normalize();
TSVector3 yaxis = TSVector3.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 TSQuaternion AngleAxis(FP angle, TSVector3 axis)
{
axis = axis * FP.Deg2Rad;
axis.Normalize();
FP halfAngle = angle * FP.Deg2Rad * FP.Half;
TSQuaternion rotation;
FP sin = FP.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = FP.Cos(halfAngle);
return(rotation);
}
