C# code from Matlab

Hello, is there someone who has experince with Matlab and C#. I need a formula or method for C# from Matlab file on following. MATLAB CODE: function [Y,B,C] = xyz2ybc(Xc,Yc,Zc,R) if( (length(Xc) ~= length(Yc)) | (length(Xc) ~= length(Zc)) ) error('X,Y,Z are not the same size'); end if(nargin == 3) % set the bend radius to zero for all bends. R = zeros(1,length(Xc)-2); elseif(length(R) == 1) % set the bend radius to R for all bends. R = ones(1,length(Xc)-2).*R; elseif(length(R) ~= length(Xc)-2) error('R size doesnt match the number of bends'); end % number of bends is less than the number of XYZ points by 2. for i = 1:length(Xc)-2 % calculate the 2 vectors BA and BC, representing an angle ABC. V1 = [Xc(i)-Xc(i+1) ; Yc(i)-Yc(i+1) ; Zc(i)-Zc(i+1)]; V2 = [Xc(i+2)-Xc(i+1) ; Yc(i+2)-Yc(i+1) ; Zc(i+2)-Zc(i+1)]; % calculate the length of vectors BA and BC. V1l = Vlength(V1); V2l = Vlength(V2); % calculate the angle between the 2 vectors BA and BC. C(i) = pi - acos(dot(V1,V2) / (V1l*V2l)); % calculate the vector perpendicular to the plan ABC. planeV(i,:) = cross(V1,V2)'; if(i>1) % calculate the length of the straight by subtracting the tangent of % the bend angle. Y(i) = Y(i) - R(i)*tan(C(i)/2); Y(i+1) = V2l - R(i)*tan(C(i)/2); % calculate the length of vectors perpendicular to the plan ABC and % the plan of the bend before it. PV1l = Vlength(planeV(i-1,:)); PV2l = Vlength(planeV(i,:)); % calculate the rotation direction. negative if counter clockwise. s=sign(V1 .* cross(planeV(i-1,:),planeV(i,:))'); % calculate the rotation angle and multiply by the rotation direction. B(i) = acos(dot(planeV(i-1,:),planeV(i,:))/(PV1l*PV2l))*s(1); else % calculate the length of the straight by subtracting the tangent of % the bend angle. Y(i) = V1l - R(i)*tan(C(i)/2); Y(i+1) = V2l - R(i)*tan(C(i)/2); % rotation of the first bend is always zero. B(i) = 0; end end % calculate the length of a 3D vector. function l=Vlength(V) l = sqrt(V(1)^2 + V(2)^2 + V(3)^2);