SharpMath.float4x4.OrthoNormalize C# (CSharp) 메소드

        public void OrthoNormalize()
        {
            // Normalize first
            Normalize();

            // Find the most minimal divergence in the existing 3 axes
            float	fDivergenceXY = System.Math.Abs( GetRow0() | GetRow1() );
            float	fDivergenceYZ = System.Math.Abs( GetRow1() | GetRow2() );
            float	fDivergenceZX = System.Math.Abs( GetRow2() | GetRow0() );

            int		MinDivergenceRowIndex = 0;
            if ( fDivergenceXY < fDivergenceYZ )
            {
                if ( fDivergenceXY < fDivergenceZX )
                    MinDivergenceRowIndex = 2;
                else
                    MinDivergenceRowIndex = 1;
            }
            else
            {
                if ( fDivergenceYZ < fDivergenceZX )
                    MinDivergenceRowIndex = 0;
                else
                    MinDivergenceRowIndex = 1;
            }

                // The complementary axis is the safest to be recomputed
            SetRow( MinDivergenceRowIndex, ((float3) GetRow( ms_RotIndex[MinDivergenceRowIndex+1] ) ^ (float3) GetRow( ms_RotIndex[MinDivergenceRowIndex+2] )).Normalize(), 0.0f );

            // Find the minimal divergence in the remaining 2 axes
            float	fDivergence0 = System.Math.Abs( GetRow( ms_RotIndex[MinDivergenceRowIndex+0] ) | GetRow( ms_RotIndex[MinDivergenceRowIndex+1] ) );
            float	fDivergence1 = System.Math.Abs( GetRow( ms_RotIndex[MinDivergenceRowIndex+0] ) | GetRow( ms_RotIndex[MinDivergenceRowIndex+2] ) );

            int		MinSecondDivergenceRowIndex = 0;
            if ( fDivergence0 < fDivergence1 )
                MinSecondDivergenceRowIndex = ms_RotIndex[MinDivergenceRowIndex + 2];
            else
                MinSecondDivergenceRowIndex = ms_RotIndex[MinDivergenceRowIndex + 1];

                // The complementary axis is the safest to be recomputed
            SetRow( MinSecondDivergenceRowIndex, ((float3) GetRow( ms_RotIndex[MinSecondDivergenceRowIndex+1] ) ^ (float3) GetRow( ms_RotIndex[MinSecondDivergenceRowIndex+2] )).Normalize(), 0.0f );

            // Compute the final, remaining axis
            int	MinDivergenceIndex = System.Math.Min( MinDivergenceRowIndex, MinSecondDivergenceRowIndex );
            int	MaxDivergenceIndex = System.Math.Max( MinDivergenceRowIndex, MinSecondDivergenceRowIndex );
            int	RemainingAxisIndex = MinDivergenceIndex == 1 ? 0 : (MaxDivergenceIndex == 1 ? 2 : 1);

            SetRow( RemainingAxisIndex, (float3) GetRow( MinDivergenceRowIndex ) ^ (float3) GetRow( MinSecondDivergenceRowIndex ), 0.0f );
        }