How to use

cross

method

in

us.ihmc.euclid.tuple3D.Vector3D32

private static Vector3D32[] findNormalsPerFace(int[] indices, Point3D32[] vertices)
{
 Vector3D32[] normalsPerFace = new Vector3D32[indices.length / 3]; // Abuse integer division.
 Vector3D32 firstVector = new Vector3D32();
 Vector3D32 secondVector = new Vector3D32();
 Point3D32[] faceVertices = new Point3D32[3];
 for (int face = 0; face < normalsPerFace.length; face++)
 {
   normalsPerFace[face] = new Vector3D32();
   for (int i = 0; i < faceVertices.length; i++)
   {
    faceVertices[i] = vertices[indices[face * 3 + i]];
   }
   firstVector.set(faceVertices[2]);
   firstVector.sub(faceVertices[0]);
   secondVector.set(faceVertices[2]);
   secondVector.sub(faceVertices[1]);
   normalsPerFace[face].cross(firstVector, secondVector);
   normalsPerFace[face].normalize();
 }
 return normalsPerFace;
}