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Remove unnecessary normalization in `Rotation3::face_towards` 

`zaxis` and `xaxis` are already normalized which means `zaxis.cross(&xaxis)` should already be normalized.
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Alexander Ekdahl 2023-06-19 15:20:01 +02:00 committed by GitHub
parent 5baf86b311
commit 860899cd6d
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1 changed files with 2 additions and 1 deletions
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src/geometry/rotation_specialization.rs
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@ -478,9 +478,10 @@ where
SB: Storage<T, U3>, SB: Storage<T, U3>,
SC: Storage<T, U3>, SC: Storage<T, U3>,
{ {
// Gram–Schmidt process
let zaxis = dir.normalize(); let zaxis = dir.normalize();
let xaxis = up.cross(&zaxis).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( Self::from_matrix_unchecked(SMatrix::<T, 3, 3>::new(
xaxis.x.clone(), xaxis.x.clone(),