From e7a58a7eb6d45b530eeaea88cfa29adcd8df02f3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Thu, 5 May 2022 13:25:04 +0200 Subject: [PATCH] Core: Rename math 'phi' arguments to 'angle' --- core/math/basis.cpp | 26 +++++++++---------- core/math/basis.h | 16 ++++++------ core/math/transform_2d.cpp | 8 +++--- core/math/transform_2d.h | 4 +-- core/math/transform_3d.cpp | 12 ++++----- core/math/transform_3d.h | 6 ++--- core/math/vector3.cpp | 8 +++--- core/math/vector3.h | 4 +-- core/variant/variant_call.cpp | 10 +++---- core/variant/variant_construct.cpp | 2 +- doc/classes/Basis.xml | 8 +++--- doc/classes/Transform2D.xml | 4 +-- doc/classes/Transform3D.xml | 4 +-- doc/classes/Vector2.xml | 4 +-- doc/classes/Vector3.xml | 6 ++--- .../glue/GodotSharp/GodotSharp/Core/Basis.cs | 8 +++--- .../GodotSharp/GodotSharp/Core/Transform2D.cs | 4 +-- .../GodotSharp/GodotSharp/Core/Transform3D.cs | 4 +-- .../GodotSharp/GodotSharp/Core/Vector2.cs | 4 +-- .../GodotSharp/GodotSharp/Core/Vector3.cs | 4 +-- 20 files changed, 73 insertions(+), 73 deletions(-) diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 461f5839d67..65353d81183 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -347,22 +347,22 @@ Vector3 Basis::rotref_posscale_decomposition(Basis &rotref) const { // The main use of Basis is as Transform.basis, which is used by the transformation matrix // of 3D object. Rotate here refers to rotation of the object (which is R * (*this)), // not the matrix itself (which is R * (*this) * R.transposed()). -Basis Basis::rotated(const Vector3 &p_axis, real_t p_phi) const { - return Basis(p_axis, p_phi) * (*this); +Basis Basis::rotated(const Vector3 &p_axis, real_t p_angle) const { + return Basis(p_axis, p_angle) * (*this); } -void Basis::rotate(const Vector3 &p_axis, real_t p_phi) { - *this = rotated(p_axis, p_phi); +void Basis::rotate(const Vector3 &p_axis, real_t p_angle) { + *this = rotated(p_axis, p_angle); } -void Basis::rotate_local(const Vector3 &p_axis, real_t p_phi) { +void Basis::rotate_local(const Vector3 &p_axis, real_t p_angle) { // performs a rotation in object-local coordinate system: // M -> (M.R.Minv).M = M.R. - *this = rotated_local(p_axis, p_phi); + *this = rotated_local(p_axis, p_angle); } -Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_phi) const { - return (*this) * Basis(p_axis, p_phi); +Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_angle) const { + return (*this) * Basis(p_axis, p_angle); } Basis Basis::rotated(const Vector3 &p_euler) const { @@ -900,18 +900,18 @@ void Basis::set_quaternion(const Quaternion &p_quaternion) { xz - wy, yz + wx, 1.0f - (xx + yy)); } -void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) { +void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_angle) { // Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_angle #ifdef MATH_CHECKS ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized."); #endif Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z); - real_t cosine = Math::cos(p_phi); + real_t cosine = Math::cos(p_angle); rows[0][0] = axis_sq.x + cosine * (1.0f - axis_sq.x); rows[1][1] = axis_sq.y + cosine * (1.0f - axis_sq.y); rows[2][2] = axis_sq.z + cosine * (1.0f - axis_sq.z); - real_t sine = Math::sin(p_phi); + real_t sine = Math::sin(p_angle); real_t t = 1 - cosine; real_t xyzt = p_axis.x * p_axis.y * t; @@ -930,9 +930,9 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) { rows[2][1] = xyzt + zyxs; } -void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { +void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { _set_diagonal(p_scale); - rotate(p_axis, p_phi); + rotate(p_axis, p_angle); } void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) { diff --git a/core/math/basis.h b/core/math/basis.h index f9b13072adf..9cce22510bf 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -58,11 +58,11 @@ struct _NO_DISCARD_ Basis { void from_z(const Vector3 &p_z); - void rotate(const Vector3 &p_axis, real_t p_phi); - Basis rotated(const Vector3 &p_axis, real_t p_phi) const; + void rotate(const Vector3 &p_axis, real_t p_angle); + Basis rotated(const Vector3 &p_axis, real_t p_angle) const; - void rotate_local(const Vector3 &p_axis, real_t p_phi); - Basis rotated_local(const Vector3 &p_axis, real_t p_phi) const; + void rotate_local(const Vector3 &p_axis, real_t p_angle); + Basis rotated_local(const Vector3 &p_axis, real_t p_angle) const; void rotate(const Vector3 &p_euler); Basis rotated(const Vector3 &p_euler) const; @@ -100,7 +100,7 @@ struct _NO_DISCARD_ Basis { void set_quaternion(const Quaternion &p_quaternion); void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const; - void set_axis_angle(const Vector3 &p_axis, real_t p_phi); + void set_axis_angle(const Vector3 &p_axis, real_t p_angle); void scale(const Vector3 &p_scale); Basis scaled(const Vector3 &p_scale) const; @@ -118,7 +118,7 @@ struct _NO_DISCARD_ Basis { Vector3 get_scale_abs() const; Vector3 get_scale_local() const; - void set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale); + void set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale); void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale); void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale); @@ -237,8 +237,8 @@ struct _NO_DISCARD_ Basis { Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); }; Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); } - Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); } - Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); } + Basis(const Vector3 &p_axis, real_t p_angle) { set_axis_angle(p_axis, p_angle); } + Basis(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_angle, p_scale); } static Basis from_scale(const Vector3 &p_scale); _FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) { diff --git a/core/math/transform_2d.cpp b/core/math/transform_2d.cpp index 5c946d550bd..cbd2fd3fa17 100644 --- a/core/math/transform_2d.cpp +++ b/core/math/transform_2d.cpp @@ -65,8 +65,8 @@ Transform2D Transform2D::affine_inverse() const { return inv; } -void Transform2D::rotate(const real_t p_phi) { - *this = Transform2D(p_phi, Vector2()) * (*this); +void Transform2D::rotate(const real_t p_angle) { + *this = Transform2D(p_angle, Vector2()) * (*this); } real_t Transform2D::get_skew() const { @@ -241,9 +241,9 @@ Transform2D Transform2D::translated(const Vector2 &p_offset) const { return copy; } -Transform2D Transform2D::rotated(const real_t p_phi) const { +Transform2D Transform2D::rotated(const real_t p_angle) const { Transform2D copy = *this; - copy.rotate(p_phi); + copy.rotate(p_angle); return copy; } diff --git a/core/math/transform_2d.h b/core/math/transform_2d.h index 6531633d39e..72d34a5d4c9 100644 --- a/core/math/transform_2d.h +++ b/core/math/transform_2d.h @@ -70,7 +70,7 @@ struct _NO_DISCARD_ Transform2D { void set_skew(const real_t p_angle); _FORCE_INLINE_ void set_rotation_and_scale(const real_t p_rot, const Size2 &p_scale); _FORCE_INLINE_ void set_rotation_scale_and_skew(const real_t p_rot, const Size2 &p_scale, const real_t p_skew); - void rotate(const real_t p_phi); + void rotate(const real_t p_angle); void scale(const Size2 &p_scale); void scale_basis(const Size2 &p_scale); @@ -88,7 +88,7 @@ struct _NO_DISCARD_ Transform2D { Transform2D scaled(const Size2 &p_scale) const; Transform2D basis_scaled(const Size2 &p_scale) const; Transform2D translated(const Vector2 &p_offset) const; - Transform2D rotated(const real_t p_phi) const; + Transform2D rotated(const real_t p_angle) const; Transform2D untranslated() const; diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp index b5fe16bca63..76b31daa763 100644 --- a/core/math/transform_3d.cpp +++ b/core/math/transform_3d.cpp @@ -57,16 +57,16 @@ Transform3D Transform3D::inverse() const { return ret; } -void Transform3D::rotate(const Vector3 &p_axis, real_t p_phi) { - *this = rotated(p_axis, p_phi); +void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) { + *this = rotated(p_axis, p_angle); } -Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_phi) const { - return Transform3D(Basis(p_axis, p_phi), Vector3()) * (*this); +Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const { + return Transform3D(Basis(p_axis, p_angle), Vector3()) * (*this); } -void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_phi) { - basis.rotate(p_axis, p_phi); +void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_angle) { + basis.rotate(p_axis, p_angle); } Transform3D Transform3D::looking_at(const Vector3 &p_target, const Vector3 &p_up) const { diff --git a/core/math/transform_3d.h b/core/math/transform_3d.h index 3f2f62b548c..25832434cd6 100644 --- a/core/math/transform_3d.h +++ b/core/math/transform_3d.h @@ -45,10 +45,10 @@ struct _NO_DISCARD_ Transform3D { void affine_invert(); Transform3D affine_inverse() const; - Transform3D rotated(const Vector3 &p_axis, real_t p_phi) const; + Transform3D rotated(const Vector3 &p_axis, real_t p_angle) const; - void rotate(const Vector3 &p_axis, real_t p_phi); - void rotate_basis(const Vector3 &p_axis, real_t p_phi); + void rotate(const Vector3 &p_axis, real_t p_angle); + void rotate_basis(const Vector3 &p_axis, real_t p_angle); void set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0)); Transform3D looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0)) const; diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp index 87b2ac71048..f94f39b7f2b 100644 --- a/core/math/vector3.cpp +++ b/core/math/vector3.cpp @@ -35,13 +35,13 @@ #include "core/math/vector3i.h" #include "core/string/ustring.h" -void Vector3::rotate(const Vector3 &p_axis, const real_t p_phi) { - *this = Basis(p_axis, p_phi).xform(*this); +void Vector3::rotate(const Vector3 &p_axis, const real_t p_angle) { + *this = Basis(p_axis, p_angle).xform(*this); } -Vector3 Vector3::rotated(const Vector3 &p_axis, const real_t p_phi) const { +Vector3 Vector3::rotated(const Vector3 &p_axis, const real_t p_angle) const { Vector3 r = *this; - r.rotate(p_axis, p_phi); + r.rotate(p_axis, p_angle); return r; } diff --git a/core/math/vector3.h b/core/math/vector3.h index b22ebeaf0af..8891532f426 100644 --- a/core/math/vector3.h +++ b/core/math/vector3.h @@ -97,8 +97,8 @@ struct _NO_DISCARD_ Vector3 { void snap(const Vector3 p_val); Vector3 snapped(const Vector3 p_val) const; - void rotate(const Vector3 &p_axis, const real_t p_phi); - Vector3 rotated(const Vector3 &p_axis, const real_t p_phi) const; + void rotate(const Vector3 &p_axis, const real_t p_angle); + Vector3 rotated(const Vector3 &p_axis, const real_t p_angle) const; /* Static Methods between 2 vector3s */ diff --git a/core/variant/variant_call.cpp b/core/variant/variant_call.cpp index cc7e84203ff..f4b2af5a949 100644 --- a/core/variant/variant_call.cpp +++ b/core/variant/variant_call.cpp @@ -1495,7 +1495,7 @@ static void _register_variant_builtin_methods() { bind_method(Vector2, max_axis_index, sarray(), varray()); bind_method(Vector2, min_axis_index, sarray(), varray()); bind_method(Vector2, move_toward, sarray("to", "delta"), varray()); - bind_method(Vector2, rotated, sarray("phi"), varray()); + bind_method(Vector2, rotated, sarray("angle"), varray()); bind_method(Vector2, orthogonal, sarray(), varray()); bind_method(Vector2, floor, sarray(), varray()); bind_method(Vector2, ceil, sarray(), varray()); @@ -1575,7 +1575,7 @@ static void _register_variant_builtin_methods() { bind_method(Vector3, inverse, sarray(), varray()); bind_method(Vector3, clamp, sarray("min", "max"), varray()); bind_method(Vector3, snapped, sarray("step"), varray()); - bind_method(Vector3, rotated, sarray("by_axis", "phi"), varray()); + bind_method(Vector3, rotated, sarray("axis", "angle"), varray()); bind_method(Vector3, lerp, sarray("to", "weight"), varray()); bind_method(Vector3, slerp, sarray("to", "weight"), varray()); bind_method(Vector3, cubic_interpolate, sarray("b", "pre_a", "post_b", "weight"), varray()); @@ -1730,7 +1730,7 @@ static void _register_variant_builtin_methods() { bind_method(Transform2D, get_scale, sarray(), varray()); bind_method(Transform2D, get_skew, sarray(), varray()); bind_method(Transform2D, orthonormalized, sarray(), varray()); - bind_method(Transform2D, rotated, sarray("phi"), varray()); + bind_method(Transform2D, rotated, sarray("angle"), varray()); bind_method(Transform2D, scaled, sarray("scale"), varray()); bind_method(Transform2D, translated, sarray("offset"), varray()); bind_method(Transform2D, basis_xform, sarray("v"), varray()); @@ -1748,7 +1748,7 @@ static void _register_variant_builtin_methods() { bind_method(Basis, transposed, sarray(), varray()); bind_method(Basis, orthonormalized, sarray(), varray()); bind_method(Basis, determinant, sarray(), varray()); - bind_methodv(Basis, rotated, static_cast(&Basis::rotated), sarray("axis", "phi"), varray()); + bind_methodv(Basis, rotated, static_cast(&Basis::rotated), sarray("axis", "angle"), varray()); bind_method(Basis, scaled, sarray("scale"), varray()); bind_method(Basis, get_scale, sarray(), varray()); bind_method(Basis, get_euler, sarray("order"), varray(Basis::EULER_ORDER_YXZ)); @@ -1795,7 +1795,7 @@ static void _register_variant_builtin_methods() { bind_method(Transform3D, inverse, sarray(), varray()); bind_method(Transform3D, affine_inverse, sarray(), varray()); bind_method(Transform3D, orthonormalized, sarray(), varray()); - bind_method(Transform3D, rotated, sarray("axis", "phi"), varray()); + bind_method(Transform3D, rotated, sarray("axis", "angle"), varray()); bind_method(Transform3D, scaled, sarray("scale"), varray()); bind_method(Transform3D, translated, sarray("offset"), varray()); bind_method(Transform3D, looking_at, sarray("target", "up"), varray(Vector3(0, 1, 0))); diff --git a/core/variant/variant_construct.cpp b/core/variant/variant_construct.cpp index 6b12b054a00..78d5433d8c8 100644 --- a/core/variant/variant_construct.cpp +++ b/core/variant/variant_construct.cpp @@ -140,7 +140,7 @@ void Variant::_register_variant_constructors() { add_constructor>(sarray()); add_constructor>(sarray("from")); add_constructor>(sarray("from")); - add_constructor>(sarray("axis", "phi")); + add_constructor>(sarray("axis", "angle")); add_constructor>(sarray("x_axis", "y_axis", "z_axis")); add_constructor>(sarray()); diff --git a/doc/classes/Basis.xml b/doc/classes/Basis.xml index 3b703884a54..0af482d654c 100644 --- a/doc/classes/Basis.xml +++ b/doc/classes/Basis.xml @@ -35,9 +35,9 @@ - + - Constructs a pure rotation basis matrix, rotated around the given [code]axis[/code] by [code]phi[/code], in radians. The axis must be a normalized vector. + Constructs a pure rotation basis matrix, rotated around the given [code]axis[/code] by [code]angle[/code] (in radians). The axis must be a normalized vector. @@ -136,9 +136,9 @@ - + - Introduce an additional rotation around the given axis by phi (radians). The axis must be a normalized vector. + Introduce an additional rotation around the given axis by [code]angle[/code] (in radians). The axis must be a normalized vector. diff --git a/doc/classes/Transform2D.xml b/doc/classes/Transform2D.xml index 7d289b2ef50..8c2a5aa6d91 100644 --- a/doc/classes/Transform2D.xml +++ b/doc/classes/Transform2D.xml @@ -139,9 +139,9 @@ - + - Returns a copy of the transform rotated by the given [code]phi[/code] angle (in radians), using matrix multiplication. + Returns a copy of the transform rotated by the given [code]angle[/code] (in radians), using matrix multiplication. diff --git a/doc/classes/Transform3D.xml b/doc/classes/Transform3D.xml index 4a08ab3bc7c..afd11b6c776 100644 --- a/doc/classes/Transform3D.xml +++ b/doc/classes/Transform3D.xml @@ -94,9 +94,9 @@ - + - Returns a copy of the transform rotated around the given [code]axis[/code] by the given [code]phi[/code] angle (in radians), using matrix multiplication. The [code]axis[/code] must be a normalized vector. + Returns a copy of the transform rotated around the given [code]axis[/code] by the given [code]angle[/code] (in radians), using matrix multiplication. The [code]axis[/code] must be a normalized vector. diff --git a/doc/classes/Vector2.xml b/doc/classes/Vector2.xml index f9ef126658e..6ccc0fc6a6a 100644 --- a/doc/classes/Vector2.xml +++ b/doc/classes/Vector2.xml @@ -278,9 +278,9 @@ - + - Returns the vector rotated by [code]phi[/code] radians. See also [method @GlobalScope.deg2rad]. + Returns the vector rotated by [code]angle[/code] (in radians). See also [method @GlobalScope.deg2rad]. diff --git a/doc/classes/Vector3.xml b/doc/classes/Vector3.xml index 18204943fdb..d907ceb52bf 100644 --- a/doc/classes/Vector3.xml +++ b/doc/classes/Vector3.xml @@ -258,10 +258,10 @@ - - + + - Rotates this vector around a given axis by [code]phi[/code] radians. The axis must be a normalized vector. + Rotates this vector around a given axis by [code]angle[/code] (in radians). The axis must be a normalized vector. diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs index 656796c5c77..37bdc42c2db 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs @@ -526,10 +526,10 @@ namespace Godot /// /// Introduce an additional rotation around the given - /// by (in radians). The axis must be a normalized vector. + /// by (in radians). The axis must be a normalized vector. /// /// The axis to rotate around. Must be normalized. - /// The angle to rotate, in radians. + /// The angle to rotate, in radians. /// The rotated basis matrix. public Basis Rotated(Vector3 axis, real_t phi) { @@ -770,10 +770,10 @@ namespace Godot /// /// Constructs a pure rotation basis matrix, rotated around the given - /// by (in radians). The axis must be a normalized vector. + /// by (in radians). The axis must be a normalized vector. /// /// The axis to rotate around. Must be normalized. - /// The angle to rotate, in radians. + /// The angle to rotate, in radians. public Basis(Vector3 axis, real_t phi) { Vector3 axisSq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z); diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform2D.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform2D.cs index 8e253388bf3..89947899cb2 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform2D.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform2D.cs @@ -297,9 +297,9 @@ namespace Godot } /// - /// Rotates the transform by (in radians), using matrix multiplication. + /// Rotates the transform by (in radians), using matrix multiplication. /// - /// The angle to rotate, in radians. + /// The angle to rotate, in radians. /// The rotated transformation matrix. public Transform2D Rotated(real_t phi) { diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform3D.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform3D.cs index 5d9aabdd2ff..7b211b6577f 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform3D.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Transform3D.cs @@ -186,11 +186,11 @@ namespace Godot } /// - /// Rotates the transform around the given by (in radians), + /// Rotates the transform around the given by (in radians), /// using matrix multiplication. The axis must be a normalized vector. /// /// The axis to rotate around. Must be normalized. - /// The angle to rotate, in radians. + /// The angle to rotate, in radians. /// The rotated transformation matrix. public Transform3D Rotated(Vector3 axis, real_t phi) { diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs index d4b623b2ea5..9e990ce83e1 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs @@ -470,9 +470,9 @@ namespace Godot } /// - /// Rotates this vector by radians. + /// Rotates this vector by radians. /// - /// The angle to rotate by, in radians. + /// The angle to rotate by, in radians. /// The rotated vector. public Vector2 Rotated(real_t phi) { diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs index eddfa76f105..56859da7f25 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs @@ -488,11 +488,11 @@ namespace Godot } /// - /// Rotates this vector around a given vector by radians. + /// Rotates this vector around a given vector by (in radians). /// The vector must be a normalized vector. /// /// The vector to rotate around. Must be normalized. - /// The angle to rotate by, in radians. + /// The angle to rotate by, in radians. /// The rotated vector. public Vector3 Rotated(Vector3 axis, real_t phi) {