///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
/// 
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
/// 
/// Restrictions:
///             By making use of the Software for military purposes, you choose to make
///             a Bunny unhappy.
/// 
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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///
/// @ref gtx_orthonormalize
/// @file glm/gtx/orthonormalize.inl
/// @date 2005-12-21 / 2011-06-07
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////

namespace glm
{
        template <typename T, precision P>
        GLM_FUNC_QUALIFIER tmat3x3<T, P> orthonormalize(tmat3x3<T, P> const & m)
        {
                tmat3x3<T, P> 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, precision P> 
        GLM_FUNC_QUALIFIER tvec3<T, P> orthonormalize(tvec3<T, P> const & x, tvec3<T, P> const & y)
        {
                return normalize(x - y * dot(y, x));
        }
}//namespace glm