Vector (3 floats)

    public struct Vec3f
    {
        public static readonly Vec3f Zero = new Vec3f(0);
        public static readonly Vec3f Forward = new Vec3f(0, 0, -1.0f);
        public static readonly Vec3f Backward = -Forward;
        public static readonly Vec3f Right = new Vec3f(1.0f);
        public static readonly Vec3f Left = -Right;
        public static readonly Vec3f Up = new Vec3f(0, 1.0f);
        public static readonly Vec3f Down = -Up;

        public float x, y, z;

        public Vec3f(float _x = 0, float _y = 0, float _z = 0)
        {
            x = _x;
            y = _y;
            z = _z;
        }
        public float LengthSquared()
        { return x * x + y * y + z * z; }
        public float Length()
        {
            return MathF.sqrtfl(x*x + y*y + z*z);
        }

        public void add(Vec3f other)
        {
            x += other.x;
            y += other.y;
            z += other.z;
        }
        public void add(ref Vec3f other)
        {
            x += other.x;
            y += other.y;
            z += other.z;
        }
        public void sub(Vec3f other)
        {
            x -= other.x;
            y -= other.y;
            z -= other.z;
        }
        public void sub(ref Vec3f other)
        {
            x -= other.x;
            y -= other.y;
            z -= other.z;
        }
        public void mul(Vec3f other)
        {
            x *= other.x;
            y *= other.y;
            z *= other.z;
        }
        public void mul(ref Vec3f other)
        {
            x *= other.x;
            y *= other.y;
            z *= other.z;
        }
        public void div(Vec3f other)
        {
            x /= other.x;
            y /= other.y;
            z /= other.z;
        }
        public void div(ref Vec3f other)
        {
            x /= other.x;
            y /= other.y;
            z /= other.z;
        }
        public void add(float other)
        {
            x += other;
            y += other;
            z += other;
        }
        public void sub(float other)
        {
            x -= other;
            y -= other;
            z -= other;
        }
        public void mul(float other)
        {
            x *= other;
            y *= other;
            z *= other;
        }
        public void div(float other)
        {
            x /= other;
            y /= other;
            z /= other;
        }

        public void normalize()
        {
            var l = (float)Length();
            x /= l;
            y /= l;
            z /= l;
        }
        public void negate()
        {
            x = -x;
            y = -y;
            z = -z;
        }

        public static Vec3f operator +(Vec3f a, Vec3f b)
        {
            return new Vec3f(a.x + b.x, a.y + b.y, a.z + b.z);
        }
        public static Vec3f operator -(Vec3f a, Vec3f b)
        {
            return new Vec3f(a.x - b.x, a.y - b.y, a.z - b.z);
        }
        /// <summary>
        /// Скалярное произведение двух векторов
        /// </summary>
        public static float operator *(Vec3f a, Vec3f b)
        {
            return a.x * b.x + a.y * b.y + a.z * b.z;
        }
        /// <summary>
        /// Векторное произведение двух векторов
        /// </summary>
        public static Vec3f operator |(Vec3f a, Vec3f b)
        {
            return new Vec3f(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x);
        }
        /// <summary>
        /// Угол между векторами (ненулевые!)
        /// </summary>
        public static float operator ^(Vec3f a, Vec3f b)
        {
            return MathF.acosfl((a.x*b.x + a.y*b.y + a.z*b.z)/(a.Length()*b.Length()));
        }
        public static Vec3f operator *(Vec3f a, float b)
        {
            return new Vec3f(a.x * b, a.y * b, a.z * b);
        }
        public static Vec3f operator /(Vec3f a, float b)
        {
            return new Vec3f(a.x / b, a.y / b, a.z / b);
        }
        public static Vec3f operator -(Vec3f a)
        {
            return new Vec3f(-a.x, -a.y, -a.z);
        }
        public static Vec3f operator !(Vec3f a)
        {
            var l = (float)a.Length();
            return new Vec3f(a.x / l, a.y / l, a.z / l);
        }
        public override string ToString()
        {
            return string.Format("[{0:.00}, {1:.00}, {2:.00}]", x, y, z);
        }
        public unsafe static explicit operator byte[](Vec3f s)
        {
            var bts = new byte[12];
            var ps = &s;
            var btsp = (byte*)ps;
            for (var i = 0; i < 12; i++)
                bts[i] = btsp[i];
            return bts;
        }
        public unsafe static explicit operator Vec3f(byte[] bts)
        {
            fixed (byte* btsp = &bts[0])
            {
                return *(Vec3f*)btsp;
            }
        }

        public static bool operator ==(Vec3f a, Vec3f b)
        {
            return a.x == b.x && a.y == b.y && a.z == b.z;
        }
        public static bool operator !=(Vec3f a, Vec3f b)
        {
            return !(a == b);
        }
    }