protected void Orthonormalize()
{
// Make sure the axis are orthagonal and normalized
xAxis = LLVector3.Norm(xAxis);
yAxis -= xAxis * (xAxis * yAxis);
yAxis = LLVector3.Norm(yAxis);
zAxis = LLVector3.Cross(xAxis, yAxis);
}
/// <summary>
///
/// </summary>
/// <param name="at">Looking direction, must be a normalized vector</param>
/// <param name="upDirection">Up direction, must be a normalized vector</param>
public void LookDirection(LLVector3 at, LLVector3 upDirection)
{
// The two parameters cannot be parallel
LLVector3 left = LLVector3.Cross(upDirection, at);
if (left == LLVector3.Zero)
{
// Prevent left from being zero
at.X += 0.01f;
at = LLVector3.Norm(at);
left = LLVector3.Cross(upDirection, at);
}
left = LLVector3.Norm(left);
xAxis = at;
yAxis = left;
zAxis = LLVector3.Cross(at, left);
}
