Function vm_Orthogonalize

scripts/osiris_vector.h:598–615

Ensure that a matrix is orthogonal

// Ensure that a matrix is orthogonal
void vm_Orthogonalize(matrix *m) {
  // Normalize forward vector
  if (vm_VectorNormalize(&m->fvec) == 0) {
    return;
  }

  // Generate right vector from forward and up vectors
  m->rvec = m->uvec ^ m->fvec;

  // Normaize new right vector
  if (vm_VectorNormalize(&m->rvec) == 0) {
    vm_VectorToMatrix(m, &m->fvec, NULL, NULL); // error, so generate from forward vector only
    return;
  }

  // Recompute up vector, in case it wasn't entirely perpendiclar
  m->uvec = m->fvec ^ m->rvec;
}

// do the math for vm_VectorToMatrix()
void DoVectorToMatrix(matrix *m, vector *fvec, vector *uvec, vector *rvec) {