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/************************************************************************
*
* Copyright (C) 2025 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "geometry/__/vector.hpp"
#include <glm/glm.hpp>
#include <glm/gtc/epsilon.hpp>
namespace sight::geometry
{
//------------------------------------------------------------------------------
bool orthogonalize(
glm::dvec3& _vec1,
glm::dvec3& _vec2,
const std::optional<std::reference_wrapper<glm::dvec3> >& _vec3
)
{
const glm::dvec3 glm_u = _vec1;
const glm::dvec3 glm_v = _vec2;
// Make them Orthogonal
const auto glm_w = glm::normalize(glm::cross(glm_u, glm_v));
const auto new_glm_u = glm::normalize(glm::cross(glm_v, glm_w));
const auto new_glm_v = glm::cross(glm_w, new_glm_u);
if(_vec3)
{
_vec3->get() = {glm_w.x, glm_w.y, glm_w.z};
}
if(glm::all(glm::epsilonEqual(glm_u, new_glm_u, 1e-3)) && glm::all(glm::epsilonEqual(glm_v, new_glm_v, 1e-3)))
{
return false;
}
_vec1 = {new_glm_u.x, new_glm_u.y, new_glm_u.z};
_vec2 = {new_glm_v.x, new_glm_v.y, new_glm_v.z};
return true;
}
} // namespace sight::geometry
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