/// <summary>
/// Calculate the cross (vector) product of two vectors
/// </summary>
/// <param name="left">First operand</param>
/// <param name="right">Second operand</param>
/// <returns>The cross product of the two inputs</returns>
public static Vector3Float Cross(this Vector3Float left, Vector3Float right)
{
Vector3Float result;
left.Cross(ref right, out result);
return(result);
}
/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(this Vector3Float vec, ref Quaternion quat, out Vector3Float result)
{
#if true
throw new NotImplementedException();
#else
// Since vec.W == 0, we can optimize quat * vec * quat^-1 as follows:
// vec + 2.0 * cross(quat.xyz, cross(quat.xyz, vec) + quat.w * vec)
Vector3Float xyz = quat.Xyz, temp, temp2;
Vector3Float.Cross(ref xyz, ref vec, out temp);
Vector3Float.Multiply(ref vec, quat.W, out temp2);
Vector3Float.Add(ref temp, ref temp2, out temp);
Vector3Float.Cross(ref xyz, ref temp, out temp);
Vector3Float.Multiply(ref temp, 2, out temp);
Vector3Float.Add(ref vec, ref temp, out result);
#endif
}
