From 860899cd6df7a477af1a7a4c86c3ac5baaa7d06a Mon Sep 17 00:00:00 2001
From: Alexander Ekdahl <alexander@ekdahl.io>
Date: Mon, 19 Jun 2023 15:20:01 +0200
Subject: [PATCH] Remove unnecessary normalization in `Rotation3::face_towards`

`zaxis` and `xaxis` are already normalized which means `zaxis.cross(&xaxis)` should already be normalized.
---
 src/geometry/rotation_specialization.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/geometry/rotation_specialization.rs b/src/geometry/rotation_specialization.rs
index 1ea5cd92..17001d1a 100644
--- a/src/geometry/rotation_specialization.rs
+++ b/src/geometry/rotation_specialization.rs
@@ -478,9 +478,10 @@ where
         SB: Storage<T, U3>,
         SC: Storage<T, U3>,
     {
+        // Gram–Schmidt process
         let zaxis = dir.normalize();
         let xaxis = up.cross(&zaxis).normalize();
-        let yaxis = zaxis.cross(&xaxis).normalize();
+        let yaxis = zaxis.cross(&xaxis);
 
         Self::from_matrix_unchecked(SMatrix::<T, 3, 3>::new(
             xaxis.x.clone(),