BRDFSlices.Vector3.Rotate C# (CSharp) Метод

        public void Rotate( ref Vector3 _Axis, double _Angle, out Vector3 _Out )
        {
            double	cos_ang = Math.Cos( _Angle );
            double	sin_ang = Math.Sin( _Angle );

            _Out.x = x * cos_ang;
            _Out.y = y * cos_ang;
            _Out.z = z * cos_ang;

            double	temp = Dot( ref _Axis );
                    temp *= 1.0-cos_ang;

            _Out.x += _Axis.x * temp;
            _Out.y += _Axis.y * temp;
            _Out.z += _Axis.z * temp;

            _Axis.Cross( ref this, out TempCross );

            _Out.x += TempCross.x * sin_ang;
            _Out.y += TempCross.y * sin_ang;
            _Out.z += TempCross.z * sin_ang;
        }

        public static void std_coords_to_half_diff_coords(double _ThetaIn, double _PhiIn, double _ThetaOut, double _PhiOut,
                                                          out double _ThetaHalf, out double _PhiHalf, out double _ThetaDiff, out double _PhiDiff)
        {
            // compute in vector
            double in_vec_z    = Math.Cos(_ThetaIn);
            double proj_in_vec = Math.Sin(_ThetaIn);
            double in_vec_x    = proj_in_vec * Math.Cos(_PhiIn);
            double in_vec_y    = proj_in_vec * Math.Sin(_PhiIn);

            In.Set(in_vec_x, in_vec_y, in_vec_z);

            // compute out vector
            double out_vec_z    = Math.Cos(_ThetaOut);
            double proj_out_vec = Math.Sin(_ThetaOut);
            double out_vec_x    = proj_out_vec * Math.Cos(_PhiOut);
            double out_vec_y    = proj_out_vec * Math.Sin(_PhiOut);

            Out.Set(out_vec_x, out_vec_y, out_vec_z);

            // compute halfway vector
            Half.Set(in_vec_x + out_vec_x, in_vec_y + out_vec_y, in_vec_z + out_vec_z);
            Half.Normalize();

            // compute  _ThetaHalf, _PhiHalf
            _ThetaHalf = Math.Acos(Half.z);
            _PhiHalf   = Math.Atan2(Half.y, Half.x);

            // Compute diff vector
            In.Rotate(ref Normal, -_PhiHalf, out Temp);
            Temp.Rotate(ref BiTangent, -_ThetaHalf, out Diff);

            // Compute _ThetaDiff, _PhiDiff
            _ThetaDiff = Math.Acos(Math.Min(1.0, Diff.z));
            _PhiDiff   = Math.Atan2(Diff.y, Diff.x);
        }