remove non-static Normalize + return identity on zero vector

src/Math/Fixed/Matrix4x4.cs

@@ -996,8 +996,8 @@ namespace MoonWorks.Math.Fixed
 			z = Vector3.Normalize(forward);
 			Vector3.Cross(ref forward, ref up, out x);
 			Vector3.Cross(ref x, ref forward, out y);
-			x.Normalize();
+			x = Vector3.Normalize(x);
-			y.Normalize();
+			y = Vector3.Normalize(y);
 
 			result = new Matrix4x4();
 			result.Right = x;

src/Math/Fixed/Quaternion.cs

@@ -214,23 +214,6 @@ namespace MoonWorks.Math.Fixed
 			);
 		}
 
-		/// <summary>
-		/// Scales the quaternion magnitude to unit length.
-		/// </summary>
-		public void Normalize()
-		{
-			Fix64 num = Fix64.One / (Fix64.Sqrt(
-				(X * X) +
-				(Y * Y) +
-				(Z * Z) +
-				(W * W)
-			));
-			this.X *= num;
-			this.Y *= num;
-			this.Z *= num;
-			this.W *= num;
-		}
-
 		/// <summary>
 		/// Returns a <see cref="String"/> representation of this <see cref="Quaternion"/> in the format:
 		/// {X:[<see cref="X"/>] Y:[<see cref="Y"/>] Z:[<see cref="Z"/>] W:[<see cref="W"/>]}
@@ -759,12 +742,16 @@ namespace MoonWorks.Math.Fixed
 		/// <param name="result">The unit length quaternion an output parameter.</param>
 		public static void Normalize(ref Quaternion quaternion, out Quaternion result)
 		{
-			Fix64 num = Fix64.One / (Fix64.Sqrt(
+			Fix64 lengthSquared = (quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y) +
-				(quaternion.X * quaternion.X) +
+			                      (quaternion.Z * quaternion.Z) + (quaternion.W * quaternion.W);
-				(quaternion.Y * quaternion.Y) +
+
-				(quaternion.Z * quaternion.Z) +
+			if (lengthSquared == Fix64.Zero)
-				(quaternion.W * quaternion.W)
+			{
-			));
+				result = Identity;
+				return;
+			}
+
+			Fix64 num = Fix64.One / Fix64.Sqrt(lengthSquared);
 			result.X = quaternion.X * num;
 			result.Y = quaternion.Y * num;
 			result.Z = quaternion.Z * num;

src/Math/Fixed/Transform2D.cs

@@ -1,105 +0,0 @@
-namespace MoonWorks.Math.Fixed
-{
-	public struct Transform2D : System.IEquatable<Transform2D>
-	{
-		public Vector2 Position { get; }
-		public Fix64 Rotation { get; }
-		public Vector2 Scale { get; }
-
-		private bool transformMatrixCalculated;
-		private Matrix3x2 transformMatrix;
-
-		public Matrix3x2 TransformMatrix
-		{
-			get
-			{
-				if (!transformMatrixCalculated)
-				{
-					transformMatrix = CreateTransformMatrix(Position, Rotation, Scale);
-					transformMatrixCalculated = true;
-				}
-
-				return transformMatrix;
-			}
-		}
-
-		public bool IsAxisAligned => Rotation % Fix64.PiOver2 == Fix64.Zero;
-		public bool IsUniformScale => Scale.X == Scale.Y || Scale.X == -Scale.Y;
-
-		public static readonly Transform2D Identity = new Transform2D(Vector2.Zero, Fix64.Zero, Vector2.One);
-
-		public Transform2D(Vector2 position)
-		{
-			Position = position;
-			Rotation = Fix64.Zero;
-			Scale = Vector2.One;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D(Vector2 position, Fix64 rotation)
-		{
-			Position = position;
-			Rotation = rotation;
-			Scale = Vector2.One;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D(Vector2 position, Fix64 rotation, Vector2 scale)
-		{
-			Position = position;
-			Rotation = rotation;
-			Scale = scale;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D Compose(Transform2D other)
-		{
-			return new Transform2D(Position + other.Position, Rotation + other.Rotation, Scale * other.Scale);
-		}
-
-		private static Matrix3x2 CreateTransformMatrix(Vector2 position, Fix64 rotation, Vector2 scale)
-		{
-			return
-				Matrix3x2.CreateScale(scale) *
-				Matrix3x2.CreateRotation(rotation) *
-				Matrix3x2.CreateTranslation(position);
-		}
-
-		public bool Equals(Transform2D other)
-		{
-			return
-				Position == other.Position &&
-				Rotation == other.Rotation &&
-				Scale == other.Scale;
-		}
-
-
-        public override bool Equals(System.Object other)
-        {
-            if (other is Transform2D otherTransform)
-            {
-                return Equals(otherTransform);
-            }
-
-            return false;
-        }
-
-		public override int GetHashCode()
-		{
-			return System.HashCode.Combine(Position, Rotation, Scale);
-		}
-
-		public static bool operator ==(Transform2D a, Transform2D b)
-		{
-			return a.Equals(b);
-		}
-
-		public static bool operator !=(Transform2D a, Transform2D b)
-		{
-			return !a.Equals(b);
-		}
-	}
-}

src/Math/Fixed/Vector2.cs

@@ -200,16 +200,6 @@ namespace MoonWorks.Math.Fixed
 			return (X * X) + (Y * Y);
 		}
 
-		/// <summary>
-		/// Turns this <see cref="Vector2"/> to a unit vector with the same direction.
-		/// </summary>
-		public void Normalize()
-		{
-			Fix64 val = Fix64.One / Fix64.Sqrt((X * X) + (Y * Y));
-			X *= val;
-			Y *= val;
-		}
-
 		/// <summary>
 		/// Turns this <see cref="Vector2"/> to an angle in radians.
 		/// </summary>
@@ -423,7 +413,14 @@ namespace MoonWorks.Math.Fixed
 		/// <returns>Unit vector.</returns>
 		public static Vector2 Normalize(Vector2 value)
 		{
-			Fix64 val = Fix64.One / Fix64.Sqrt((value.X * value.X) + (value.Y * value.Y));
+			Fix64 lengthSquared = (value.X * value.X) + (value.Y * value.Y);
+
+			if (lengthSquared == Fix64.Zero)
+			{
+				return Zero;
+			}
+
+			Fix64 val = Fix64.One / Fix64.Sqrt(lengthSquared);
 			value.X *= val;
 			value.Y *= val;
 			return value;

src/Math/Fixed/Vector3.cs

@@ -309,21 +309,6 @@ namespace MoonWorks.Math.Fixed
 			return (X * X) + (Y * Y) + (Z * Z);
 		}
 
-		/// <summary>
-		/// Turns this <see cref="Vector3"/> to a unit vector with the same direction.
-		/// </summary>
-		public void Normalize()
-		{
-			Fix64 factor = Fix64.One / Fix64.Sqrt(
-				(X * X) +
-				(Y * Y) +
-				(Z * Z)
-			);
-			X *= factor;
-			Y *= factor;
-			Z *= factor;
-		}
-
 		/// <summary>
 		/// Returns a <see cref="String"/> representation of this <see cref="Vector3"/> in the format:
 		/// {X:[<see cref="X"/>] Y:[<see cref="Y"/>] Z:[<see cref="Z"/>]}
@@ -733,11 +718,14 @@ namespace MoonWorks.Math.Fixed
 		/// <returns>Unit vector.</returns>
 		public static Vector3 Normalize(Vector3 value)
 		{
-			Fix64 factor = Fix64.One / Fix64.Sqrt(
+			Fix64 lengthSquared = (value.X * value.X) + (value.Y * value.Y) + (value.Z * value.Z);
-				(value.X * value.X) +
+
-				(value.Y * value.Y) +
+			if (lengthSquared == Fix64.Zero)
-				(value.Z * value.Z)
+			{
-			);
+				return Zero;
+			}
+
+			Fix64 factor = Fix64.One / Fix64.Sqrt(lengthSquared);
 			return new Vector3(
 				value.X * factor,
 				value.Y * factor,

src/Math/Float/Matrix4x4.cs

@@ -611,7 +611,7 @@ namespace MoonWorks.Math.Float
 				);
 			}
 			Vector3.Cross(ref cameraUpVector, ref vector, out vector3);
-			vector3.Normalize();
+			vector3 = Vector3.Normalize(vector3);
 			Vector3.Cross(ref vector, ref vector3, out vector2);
 			result.M11 = vector3.X;
 			result.M12 = vector3.Y;
@@ -730,16 +730,16 @@ namespace MoonWorks.Math.Float
 						Vector3.Forward;
 				}
 				Vector3.Cross(ref rotateAxis, ref vector, out vector3);
-				vector3.Normalize();
+				vector3 = Vector3.Normalize(vector3);
 				Vector3.Cross(ref vector3, ref rotateAxis, out vector);
-				vector.Normalize();
+				vector = Vector3.Normalize(vector);
 			}
 			else
 			{
 				Vector3.Cross(ref rotateAxis, ref vector2, out vector3);
-				vector3.Normalize();
+				vector3 = Vector3.Normalize(vector3);
 				Vector3.Cross(ref vector3, ref vector4, out vector);
-				vector.Normalize();
+				vector = Vector3.Normalize(vector);
 			}
 
 			result.M11 = vector3.X;
@@ -1701,8 +1701,8 @@ namespace MoonWorks.Math.Float
 			Vector3.Normalize(ref forward, out z);
 			Vector3.Cross(ref forward, ref up, out x);
 			Vector3.Cross(ref x, ref forward, out y);
-			x.Normalize();
+			x = Vector3.Normalize(x);
-			y.Normalize();
+			y = Vector3.Normalize(y);
 
 			result = new Matrix4x4();
 			result.Right = x;

src/Math/Float/Transform2D.cs

@@ -1,105 +0,0 @@
-namespace MoonWorks.Math.Float
-{
-	public struct Transform2D : System.IEquatable<Transform2D>
-	{
-		public Vector2 Position { get; }
-		public float Rotation { get; }
-		public Vector2 Scale { get; }
-
-		private bool transformMatrixCalculated;
-		private Matrix3x2 transformMatrix;
-
-		public Matrix3x2 TransformMatrix
-		{
-			get
-			{
-				if (!transformMatrixCalculated)
-				{
-					transformMatrix = CreateTransformMatrix(Position, Rotation, Scale);
-					transformMatrixCalculated = true;
-				}
-
-				return transformMatrix;
-			}
-		}
-
-		public bool IsAxisAligned => Rotation % MathHelper.PiOver2 == 0;
-		public bool IsUniformScale => Scale.X == Scale.Y;
-
-		public static readonly Transform2D Identity = new Transform2D(Vector2.Zero, 0, Vector2.One);
-
-		public Transform2D(Vector2 position)
-		{
-			Position = position;
-			Rotation = 0;
-			Scale = Vector2.One;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D(Vector2 position, float rotation)
-		{
-			Position = position;
-			Rotation = rotation;
-			Scale = Vector2.One;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D(Vector2 position, float rotation, Vector2 scale)
-		{
-			Position = position;
-			Rotation = rotation;
-			Scale = scale;
-			transformMatrixCalculated = false;
-			transformMatrix = Matrix3x2.Identity;
-		}
-
-		public Transform2D Compose(Transform2D other)
-		{
-			return new Transform2D(Position + other.Position, Rotation + other.Rotation, Scale * other.Scale);
-		}
-
-		private static Matrix3x2 CreateTransformMatrix(Vector2 position, float rotation, Vector2 scale)
-		{
-			return
-				Matrix3x2.CreateScale(scale) *
-				Matrix3x2.CreateRotation(rotation) *
-				Matrix3x2.CreateTranslation(position);
-		}
-
-		public bool Equals(Transform2D other)
-		{
-			return
-				Position == other.Position &&
-				Rotation == other.Rotation &&
-				Scale == other.Scale;
-		}
-
-
-        public override bool Equals(System.Object other)
-        {
-            if (other is Transform2D otherTransform)
-            {
-                return Equals(otherTransform);
-            }
-
-            return false;
-        }
-
-		public override int GetHashCode()
-		{
-			return System.HashCode.Combine(Position, Rotation, Scale);
-		}
-
-		public static bool operator ==(Transform2D a, Transform2D b)
-		{
-			return a.Equals(b);
-		}
-
-		public static bool operator !=(Transform2D a, Transform2D b)
-		{
-			return !a.Equals(b);
-		}
-	}
-}

src/Math/Float/Vector2.cs

@@ -194,16 +194,6 @@ namespace MoonWorks.Math.Float
 			return (X * X) + (Y * Y);
 		}
 
-		/// <summary>
-		/// Turns this <see cref="Vector2"/> to a unit vector with the same direction.
-		/// </summary>
-		public void Normalize()
-		{
-			float val = 1.0f / (float) System.Math.Sqrt((X * X) + (Y * Y));
-			X *= val;
-			Y *= val;
-		}
-
 		/// <summary>
 		/// Turns this <see cref="Vector2"/> to an angle in radians.
 		/// </summary>
@@ -717,7 +707,14 @@ namespace MoonWorks.Math.Float
 		/// <returns>Unit vector.</returns>
 		public static Vector2 Normalize(Vector2 value)
 		{
-			float val = 1.0f / (float) System.Math.Sqrt((value.X * value.X) + (value.Y * value.Y));
+			float lengthSquared = (value.X * value.X) + (value.Y * value.Y);
+
+			if (lengthSquared == 0)
+			{
+				return Zero;
+			}
+
+			float val = 1.0f / System.MathF.Sqrt(lengthSquared);
 			value.X *= val;
 			value.Y *= val;
 			return value;

src/Math/Float/Vector3.cs

@@ -302,21 +302,6 @@ namespace MoonWorks.Math.Float
 			return (X * X) + (Y * Y) + (Z * Z);
 		}
 
-		/// <summary>
-		/// Turns this <see cref="Vector3"/> to a unit vector with the same direction.
-		/// </summary>
-		public void Normalize()
-		{
-			float factor = 1.0f / (float) System.Math.Sqrt(
-				(X * X) +
-				(Y * Y) +
-				(Z * Z)
-			);
-			X *= factor;
-			Y *= factor;
-			Z *= factor;
-		}
-
 		/// <summary>
 		/// Returns a <see cref="String"/> representation of this <see cref="Vector3"/> in the format:
 		/// {X:[<see cref="X"/>] Y:[<see cref="Y"/>] Z:[<see cref="Z"/>]}
@@ -900,11 +885,14 @@ namespace MoonWorks.Math.Float
 		/// <returns>Unit vector.</returns>
 		public static Vector3 Normalize(Vector3 value)
 		{
-			float factor = 1.0f / (float) System.Math.Sqrt(
+			float lengthSquared = (value.X * value.X) + (value.Y * value.Y) + (value.Z * value.Z);
-				(value.X * value.X) +
+
-				(value.Y * value.Y) +
+			if (lengthSquared == 0f)
-				(value.Z * value.Z)
+			{
-			);
+				return Zero;
+			}
+
+			float factor = 1.0f / System.MathF.Sqrt(lengthSquared);
 			return new Vector3(
 				value.X * factor,
 				value.Y * factor,

src/Math/Float/Vector4.cs

@@ -267,23 +267,6 @@ namespace MoonWorks.Math.Float
 			return (X * X) + (Y * Y) + (Z * Z) + (W * W);
 		}
 
-		/// <summary>
-		/// Turns this <see cref="Vector4"/> to a unit vector with the same direction.
-		/// </summary>
-		public void Normalize()
-		{
-			float factor = 1.0f / (float) System.Math.Sqrt(
-				(X * X) +
-				(Y * Y) +
-				(Z * Z) +
-				(W * W)
-			);
-			X *= factor;
-			Y *= factor;
-			Z *= factor;
-			W *= factor;
-		}
-
 		public override string ToString()
 		{
 			return (
@@ -853,12 +836,15 @@ namespace MoonWorks.Math.Float
 		/// <returns>Unit vector.</returns>
 		public static Vector4 Normalize(Vector4 vector)
 		{
-			float factor = 1.0f / (float) System.Math.Sqrt(
+			var lengthSquared = (vector.X * vector.X) + (vector.Y * vector.Y) +
-				(vector.X * vector.X) +
+			                        (vector.Z * vector.Z) + (vector.W * vector.W);
-				(vector.Y * vector.Y) +
+
-				(vector.Z * vector.Z) +
+			if (lengthSquared == 0)
-				(vector.W * vector.W)
+			{
-			);
+				return Zero;
+			}
+
+			float factor = 1.0f / System.MathF.Sqrt(lengthSquared);
 			return new Vector4(
 				vector.X * factor,
 				vector.Y * factor,
@@ -870,16 +856,20 @@ namespace MoonWorks.Math.Float
 		/// <summary>
 		/// Creates a new <see cref="Vector4"/> that contains a normalized values from another vector.
 		/// </summary>
-		/// <param name="value">Source <see cref="Vector4"/>.</param>
+		/// <param name="vector">Source <see cref="Vector4"/>.</param>
 		/// <param name="result">Unit vector as an output parameter.</param>
 		public static void Normalize(ref Vector4 vector, out Vector4 result)
 		{
-			float factor = 1.0f / (float) System.Math.Sqrt(
+			float lengthSquared = (vector.X * vector.X) + (vector.Y * vector.Y) +
-				(vector.X * vector.X) +
+			                      (vector.Z * vector.Z) + (vector.W * vector.W);
-				(vector.Y * vector.Y) +
+
-				(vector.Z * vector.Z) +
+			if (lengthSquared == 0)
-				(vector.W * vector.W)
+			{
-			);
+				result = Zero;
+				return;
+			}
+
+			float factor = 1.0f / System.MathF.Sqrt(lengthSquared);
 			result.X = vector.X * factor;
 			result.Y = vector.Y * factor;
 			result.Z = vector.Z * factor;