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-rw-r--r--modules/mono/csharp_script.cpp32
-rw-r--r--modules/mono/csharp_script.h5
-rw-r--r--modules/mono/editor/GodotTools/GodotTools.BuildLogger/GodotTools.BuildLogger.csproj6
-rw-r--r--modules/mono/editor/GodotTools/GodotTools.Core/GodotTools.Core.csproj4
-rw-r--r--modules/mono/editor/GodotTools/GodotTools.IdeConnection/GodotTools.IdeConnection.csproj4
-rw-r--r--modules/mono/editor/GodotTools/GodotTools.ProjectEditor/GodotTools.ProjectEditor.csproj2
-rw-r--r--modules/mono/editor/GodotTools/GodotTools.ProjectEditor/ProjectGenerator.cs2
-rw-r--r--modules/mono/editor/GodotTools/GodotTools/Export/ExportPlugin.cs49
-rw-r--r--modules/mono/editor/GodotTools/GodotTools/GodotTools.csproj2
-rw-r--r--modules/mono/editor/script_class_parser.cpp19
-rw-r--r--modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs13
-rw-r--r--modules/mono/glue/GodotSharp/GodotSharp/Core/Extensions/NodeExtensions.cs2
-rw-r--r--modules/mono/glue/GodotSharp/GodotSharp/Core/Quat.cs37
-rw-r--r--modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs6
14 files changed, 147 insertions, 36 deletions
diff --git a/modules/mono/csharp_script.cpp b/modules/mono/csharp_script.cpp
index 210267e681..9e19e5f8c4 100644
--- a/modules/mono/csharp_script.cpp
+++ b/modules/mono/csharp_script.cpp
@@ -160,7 +160,7 @@ void CSharpLanguage::finish() {
script_bindings.clear();
#ifdef DEBUG_ENABLED
- for (List<ObjectID>::Element *E = unsafely_referenced_objects.front(); E; E = E->next()) {
+ for (Map<ObjectID, int>::Element *E = unsafe_object_references.front(); E; E = E->next()) {
const ObjectID &id = E->get();
Object *obj = ObjectDB::get_instance(id);
@@ -632,18 +632,20 @@ Vector<ScriptLanguage::StackInfo> CSharpLanguage::stack_trace_get_info(MonoObjec
void CSharpLanguage::post_unsafe_reference(Object *p_obj) {
#ifdef DEBUG_ENABLED
+ SCOPED_MUTEX_LOCK(unsafe_object_references_lock);
ObjectID id = p_obj->get_instance_id();
- ERR_FAIL_COND_MSG(unsafely_referenced_objects.find(id), "Multiple unsafe references for object: " + p_obj->get_class() + ":" + itos(id));
- unsafely_referenced_objects.push_back(id);
+ unsafe_object_references[id]++;
#endif
}
void CSharpLanguage::pre_unsafe_unreference(Object *p_obj) {
#ifdef DEBUG_ENABLED
+ SCOPED_MUTEX_LOCK(unsafe_object_references_lock);
ObjectID id = p_obj->get_instance_id();
- List<ObjectID>::Element *elem = unsafely_referenced_objects.find(id);
+ Map<ObjectID, int>::Element *elem = unsafe_object_references.find(id);
ERR_FAIL_NULL(elem);
- unsafely_referenced_objects.erase(elem);
+ if (--elem->value() == 0)
+ unsafe_object_references.erase(elem);
#endif
}
@@ -1246,6 +1248,14 @@ CSharpLanguage::CSharpLanguage() {
language_bind_mutex = Mutex::create();
#endif
+#ifdef DEBUG_ENABLED
+#ifdef NO_THREADS
+ unsafe_object_references_lock = NULL;
+#else
+ unsafe_object_references_lock = Mutex::create();
+#endif
+#endif
+
lang_idx = -1;
scripts_metadata_invalidated = true;
@@ -1274,6 +1284,13 @@ CSharpLanguage::~CSharpLanguage() {
script_gchandle_release_mutex = NULL;
}
+#ifdef DEBUG_ENABLED
+ if (unsafe_object_references_lock) {
+ memdelete(unsafe_object_references_lock);
+ unsafe_object_references_lock = NULL;
+ }
+#endif
+
singleton = NULL;
}
@@ -2408,6 +2425,9 @@ bool CSharpScript::_update_exports() {
top = top->get_parent_class();
}
+ // Need to check this here, before disposal
+ bool base_ref = Object::cast_to<Reference>(tmp_native) != NULL;
+
// Dispose the temporary managed instance
MonoException *exc = NULL;
@@ -2421,7 +2441,7 @@ bool CSharpScript::_update_exports() {
MonoGCHandle::free_handle(tmp_pinned_gchandle);
tmp_object = NULL;
- if (tmp_native && !Object::cast_to<Reference>(tmp_native)) {
+ if (tmp_native && !base_ref) {
Node *node = Object::cast_to<Node>(tmp_native);
if (node && node->is_inside_tree()) {
ERR_PRINTS("Temporary instance was added to the scene tree.");
diff --git a/modules/mono/csharp_script.h b/modules/mono/csharp_script.h
index 30f56e00bd..f244bc4119 100644
--- a/modules/mono/csharp_script.h
+++ b/modules/mono/csharp_script.h
@@ -308,8 +308,9 @@ class CSharpLanguage : public ScriptLanguage {
Map<Object *, CSharpScriptBinding> script_bindings;
#ifdef DEBUG_ENABLED
- // List of unsafely referenced objects
- List<ObjectID> unsafely_referenced_objects;
+ // List of unsafe object references
+ Map<ObjectID, int> unsafe_object_references;
+ Mutex *unsafe_object_references_lock;
#endif
struct StringNameCache {
diff --git a/modules/mono/editor/GodotTools/GodotTools.BuildLogger/GodotTools.BuildLogger.csproj b/modules/mono/editor/GodotTools/GodotTools.BuildLogger/GodotTools.BuildLogger.csproj
index 1eaa36c1aa..8fdd485209 100644
--- a/modules/mono/editor/GodotTools/GodotTools.BuildLogger/GodotTools.BuildLogger.csproj
+++ b/modules/mono/editor/GodotTools/GodotTools.BuildLogger/GodotTools.BuildLogger.csproj
@@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>GodotTools.BuildLogger</RootNamespace>
<AssemblyName>GodotTools.BuildLogger</AssemblyName>
- <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+ <TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<LangVersion>7</LangVersion>
</PropertyGroup>
@@ -50,11 +50,11 @@
</ProjectReference>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
- <!-- To modify your build process, add your task inside one of the targets below and uncomment it.
+ <!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
-</Project> \ No newline at end of file
+</Project>
diff --git a/modules/mono/editor/GodotTools/GodotTools.Core/GodotTools.Core.csproj b/modules/mono/editor/GodotTools/GodotTools.Core/GodotTools.Core.csproj
index 1974220f2f..2c35ef540a 100644
--- a/modules/mono/editor/GodotTools/GodotTools.Core/GodotTools.Core.csproj
+++ b/modules/mono/editor/GodotTools/GodotTools.Core/GodotTools.Core.csproj
@@ -7,7 +7,7 @@
<OutputType>Library</OutputType>
<RootNamespace>GodotTools.Core</RootNamespace>
<AssemblyName>GodotTools.Core</AssemblyName>
- <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+ <TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
<LangVersion>7</LangVersion>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
@@ -36,4 +36,4 @@
<Compile Include="StringExtensions.cs" />
</ItemGroup>
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
-</Project> \ No newline at end of file
+</Project>
diff --git a/modules/mono/editor/GodotTools/GodotTools.IdeConnection/GodotTools.IdeConnection.csproj b/modules/mono/editor/GodotTools/GodotTools.IdeConnection/GodotTools.IdeConnection.csproj
index 427a26508f..8454535fba 100644
--- a/modules/mono/editor/GodotTools/GodotTools.IdeConnection/GodotTools.IdeConnection.csproj
+++ b/modules/mono/editor/GodotTools/GodotTools.IdeConnection/GodotTools.IdeConnection.csproj
@@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>GodotTools.IdeConnection</RootNamespace>
<AssemblyName>GodotTools.IdeConnection</AssemblyName>
- <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+ <TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<LangVersion>7</LangVersion>
</PropertyGroup>
@@ -50,4 +50,4 @@
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
-</Project> \ No newline at end of file
+</Project>
diff --git a/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/GodotTools.ProjectEditor.csproj b/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/GodotTools.ProjectEditor.csproj
index b6bb0aac34..b60e501beb 100644
--- a/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/GodotTools.ProjectEditor.csproj
+++ b/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/GodotTools.ProjectEditor.csproj
@@ -7,7 +7,7 @@
<OutputType>Library</OutputType>
<RootNamespace>GodotTools.ProjectEditor</RootNamespace>
<AssemblyName>GodotTools.ProjectEditor</AssemblyName>
- <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+ <TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
<BaseIntermediateOutputPath>obj</BaseIntermediateOutputPath>
<LangVersion>7</LangVersion>
</PropertyGroup>
diff --git a/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/ProjectGenerator.cs b/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/ProjectGenerator.cs
index 82627de01a..28b7832f90 100644
--- a/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/ProjectGenerator.cs
+++ b/modules/mono/editor/GodotTools/GodotTools.ProjectEditor/ProjectGenerator.cs
@@ -100,7 +100,7 @@ namespace GodotTools.ProjectEditor
mainGroup.AddProperty("OutputPath", Path.Combine("bin", "$(Configuration)"));
mainGroup.AddProperty("RootNamespace", IdentifierUtils.SanitizeQualifiedIdentifier(name, allowEmptyIdentifiers: true));
mainGroup.AddProperty("AssemblyName", name);
- mainGroup.AddProperty("TargetFrameworkVersion", "v4.5");
+ mainGroup.AddProperty("TargetFrameworkVersion", "v4.7");
mainGroup.AddProperty("GodotProjectGeneratorVersion", Assembly.GetExecutingAssembly().GetName().Version.ToString());
var debugGroup = root.AddPropertyGroup();
diff --git a/modules/mono/editor/GodotTools/GodotTools/Export/ExportPlugin.cs b/modules/mono/editor/GodotTools/GodotTools/Export/ExportPlugin.cs
index 96cafba87f..3e2a8c22a9 100644
--- a/modules/mono/editor/GodotTools/GodotTools/Export/ExportPlugin.cs
+++ b/modules/mono/editor/GodotTools/GodotTools/Export/ExportPlugin.cs
@@ -17,6 +17,43 @@ namespace GodotTools.Export
{
public class ExportPlugin : EditorExportPlugin
{
+ [Flags]
+ enum I18NCodesets
+ {
+ None = 0,
+ CJK = 1,
+ MidEast = 2,
+ Other = 4,
+ Rare = 8,
+ West = 16,
+ All = CJK | MidEast | Other | Rare | West
+ }
+
+ private void AddI18NAssemblies(Godot.Collections.Dictionary<string, string> assemblies, string platform)
+ {
+ var codesets = (I18NCodesets) ProjectSettings.GetSetting("mono/export/i18n_codesets");
+
+ if (codesets == I18NCodesets.None)
+ return;
+
+ string bclDir = DeterminePlatformBclDir(platform) ?? typeof(object).Assembly.Location.GetBaseDir();
+
+ void AddI18NAssembly(string name) => assemblies.Add(name, Path.Combine(bclDir, $"{name}.dll"));
+
+ AddI18NAssembly("I18N");
+
+ if ((codesets & I18NCodesets.CJK) != 0)
+ AddI18NAssembly("I18N.CJK");
+ if ((codesets & I18NCodesets.MidEast) != 0)
+ AddI18NAssembly("I18N.MidEast");
+ if ((codesets & I18NCodesets.Other) != 0)
+ AddI18NAssembly("I18N.Other");
+ if ((codesets & I18NCodesets.Rare) != 0)
+ AddI18NAssembly("I18N.Rare");
+ if ((codesets & I18NCodesets.West) != 0)
+ AddI18NAssembly("I18N.West");
+ }
+
public void RegisterExportSettings()
{
// TODO: These would be better as export preset options, but that doesn't seem to be supported yet
@@ -24,6 +61,16 @@ namespace GodotTools.Export
GlobalDef("mono/export/include_scripts_content", false);
GlobalDef("mono/export/export_assemblies_inside_pck", true);
+ GlobalDef("mono/export/i18n_codesets", I18NCodesets.All);
+
+ ProjectSettings.AddPropertyInfo(new Godot.Collections.Dictionary
+ {
+ ["type"] = Variant.Type.Int,
+ ["name"] = "mono/export/i18n_codesets",
+ ["hint"] = PropertyHint.Flags,
+ ["hint_string"] = "CJK,MidEast,Other,Rare,West"
+ });
+
GlobalDef("mono/export/aot/enabled", false);
GlobalDef("mono/export/aot/full_aot", false);
@@ -145,6 +192,8 @@ namespace GodotTools.Export
var initialDependencies = dependencies.Duplicate();
internal_GetExportedAssemblyDependencies(initialDependencies, buildConfig, DeterminePlatformBclDir(platform), dependencies);
+ AddI18NAssemblies(dependencies, platform);
+
string outputDataDir = null;
if (PlatformHasTemplateDir(platform))
diff --git a/modules/mono/editor/GodotTools/GodotTools/GodotTools.csproj b/modules/mono/editor/GodotTools/GodotTools/GodotTools.csproj
index 618527f916..379dfd9f7d 100644
--- a/modules/mono/editor/GodotTools/GodotTools/GodotTools.csproj
+++ b/modules/mono/editor/GodotTools/GodotTools/GodotTools.csproj
@@ -7,7 +7,7 @@
<OutputType>Library</OutputType>
<RootNamespace>GodotTools</RootNamespace>
<AssemblyName>GodotTools</AssemblyName>
- <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+ <TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
<GodotSourceRootPath>$(SolutionDir)/../../../../</GodotSourceRootPath>
<DataDirToolsOutputPath>$(GodotSourceRootPath)/bin/GodotSharp/Tools</DataDirToolsOutputPath>
<GodotApiConfiguration>Debug</GodotApiConfiguration>
diff --git a/modules/mono/editor/script_class_parser.cpp b/modules/mono/editor/script_class_parser.cpp
index 8ac4df9952..bece23c9a6 100644
--- a/modules/mono/editor/script_class_parser.cpp
+++ b/modules/mono/editor/script_class_parser.cpp
@@ -635,13 +635,14 @@ static String get_preprocessor_directive(const String &p_line, int p_from) {
CRASH_COND(p_line[p_from] != '#');
p_from++;
int i = p_from;
- while (i < p_line.length() && p_line[i] != ' ' && p_line[i] != '\t') {
+ while (i < p_line.length() && (p_line[i] == '_' || (p_line[i] >= 'A' && p_line[i] <= 'Z') ||
+ (p_line[i] >= 'a' && p_line[i] <= 'z') || p_line[i] > 127)) {
i++;
}
return p_line.substr(p_from, i - p_from);
}
-static void run_dummy_preprocessor(String &r_source) {
+static void run_dummy_preprocessor(String &r_source, const String &p_filepath) {
Vector<String> lines = r_source.split("\n", /* p_allow_empty: */ true);
@@ -655,8 +656,8 @@ static void run_dummy_preprocessor(String &r_source) {
const int line_len = line.length();
- int j = 0;
- while (j < line_len) {
+ int j;
+ for (j = 0; j < line_len; j++) {
if (line[j] != ' ' && line[j] != '\t') {
if (line[j] == '#') {
// First non-whitespace char of the line is '#'
@@ -668,13 +669,13 @@ static void run_dummy_preprocessor(String &r_source) {
if_level++;
is_branch_being_compiled.push_back(if_level == 0 || is_branch_being_compiled[if_level - 1]);
} else if (directive == "elif") {
- ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#elif' directive.");
+ ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#elif' directive. File: '" + p_filepath + "'.");
is_branch_being_compiled.write[if_level] = false;
} else if (directive == "else") {
- ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#else' directive.");
+ ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#else' directive. File: '" + p_filepath + "'.");
is_branch_being_compiled.write[if_level] = false;
} else if (directive == "endif") {
- ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#endif' directive.");
+ ERR_CONTINUE_MSG(if_level == -1, "Found unexpected '#endif' directive. File: '" + p_filepath + "'.");
is_branch_being_compiled.remove(if_level);
if_level--;
}
@@ -686,8 +687,6 @@ static void run_dummy_preprocessor(String &r_source) {
break;
}
}
-
- j++;
}
if (j == line_len) {
@@ -722,7 +721,7 @@ Error ScriptClassParser::parse_file(const String &p_filepath) {
" Please ensure that scripts are saved in valid UTF-8 unicode." :
"Failed to read file: '" + p_filepath + "'.");
- run_dummy_preprocessor(source);
+ run_dummy_preprocessor(source, p_filepath);
return parse(source);
}
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs
index c5e62b77c8..d38589013e 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs
@@ -387,6 +387,19 @@ namespace Godot
return b;
}
+ public Basis Slerp(Basis target, real_t t)
+ {
+ var from = new Quat(this);
+ var to = new Quat(target);
+
+ var b = new Basis(from.Slerp(to, t));
+ b.Row0 *= Mathf.Lerp(Row0.Length(), target.Row0.Length(), t);
+ b.Row1 *= Mathf.Lerp(Row1.Length(), target.Row1.Length(), t);
+ b.Row2 *= Mathf.Lerp(Row2.Length(), target.Row2.Length(), t);
+
+ return b;
+ }
+
public real_t Tdotx(Vector3 with)
{
return this.Row0[0] * with[0] + this.Row1[0] * with[1] + this.Row2[0] * with[2];
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Extensions/NodeExtensions.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Extensions/NodeExtensions.cs
index 5023725f17..5d16260f5d 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Extensions/NodeExtensions.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Extensions/NodeExtensions.cs
@@ -9,7 +9,7 @@ namespace Godot
public T GetNodeOrNull<T>(NodePath path) where T : class
{
- return GetNode(path) as T;
+ return GetNodeOrNull(path) as T;
}
public T GetChild<T>(int idx) where T : class
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quat.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quat.cs
index 8f60867ac3..6702634c51 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quat.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quat.cs
@@ -82,12 +82,20 @@ namespace Godot
public Vector3 GetEuler()
{
+#if DEBUG
+ if (!IsNormalized())
+ throw new InvalidOperationException("Quat is not normalized");
+#endif
var basis = new Basis(this);
return basis.GetEuler();
}
public Quat Inverse()
{
+#if DEBUG
+ if (!IsNormalized())
+ throw new InvalidOperationException("Quat is not normalized");
+#endif
return new Quat(-x, -y, -z, w);
}
@@ -125,6 +133,13 @@ namespace Godot
public Quat Slerp(Quat b, real_t t)
{
+#if DEBUG
+ if (!IsNormalized())
+ throw new InvalidOperationException("Quat is not normalized");
+ if (!b.IsNormalized())
+ throw new ArgumentException("Argument is not normalized", nameof(b));
+#endif
+
// Calculate cosine
real_t cosom = x * b.x + y * b.y + z * b.z + w * b.w;
@@ -200,9 +215,13 @@ namespace Godot
public Vector3 Xform(Vector3 v)
{
- Quat q = this * v;
- q *= Inverse();
- return new Vector3(q.x, q.y, q.z);
+#if DEBUG
+ if (!IsNormalized())
+ throw new InvalidOperationException("Quat is not normalized");
+#endif
+ var u = new Vector3(x, y, z);
+ Vector3 uv = u.Cross(v);
+ return v + ((uv * w) + u.Cross(uv)) * 2;
}
// Static Readonly Properties
@@ -257,8 +276,12 @@ namespace Godot
public Quat(Vector3 axis, real_t angle)
{
+#if DEBUG
+ if (!axis.IsNormalized())
+ throw new ArgumentException("Argument is not normalized", nameof(axis));
+#endif
+
real_t d = axis.Length();
- real_t angle_t = angle;
if (d == 0f)
{
@@ -269,12 +292,14 @@ namespace Godot
}
else
{
- real_t s = Mathf.Sin(angle_t * 0.5f) / d;
+ real_t sinAngle = Mathf.Sin(angle * 0.5f);
+ real_t cosAngle = Mathf.Cos(angle * 0.5f);
+ real_t s = sinAngle / d;
x = axis.x * s;
y = axis.y * s;
z = axis.z * s;
- w = Mathf.Cos(angle_t * 0.5f);
+ w = cosAngle;
}
}
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
index 025b09199f..fded34002d 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
@@ -255,7 +255,7 @@ namespace Godot
{
#if DEBUG
if (!n.IsNormalized())
- throw new ArgumentException(String.Format("{0} is not normalized", n), nameof(n));
+ throw new ArgumentException("Argument is not normalized", nameof(n));
#endif
return 2.0f * n * Dot(n) - this;
}
@@ -296,6 +296,10 @@ namespace Godot
public Vector3 Slerp(Vector3 b, real_t t)
{
+#if DEBUG
+ if (!IsNormalized())
+ throw new InvalidOperationException("Vector3 is not normalized");
+#endif
real_t theta = AngleTo(b);
return Rotated(Cross(b), theta * t);
}