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/// @ref gtx_orthonormalize
/// @file glm/gtx/orthonormalize.inl
namespace glm
{
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<3, 3, T, Q> orthonormalize(mat<3, 3, T, Q> const& m)
{
mat<3, 3, T, Q> r = m;
r[0] = normalize(r[0]);
T d0 = dot(r[0], r[1]);
r[1] -= r[0] * d0;
r[1] = normalize(r[1]);
T d1 = dot(r[1], r[2]);
d0 = dot(r[0], r[2]);
r[2] -= r[0] * d0 + r[1] * d1;
r[2] = normalize(r[2]);
return r;
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER vec<3, T, Q> orthonormalize(vec<3, T, Q> const& x, vec<3, T, Q> const& y)
{
return normalize(x - y * dot(y, x));
}
}//namespace glm
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