From 06449fb862afea9092e33adfda416d5b677ad05a Mon Sep 17 00:00:00 2001
From: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Date: Mon, 15 Apr 2019 16:08:07 -0400
Subject: Fix bug in mat4x4_orthonormalize

The Gram-Schmidt process was incorrect, resulting in non-orthogonal
columns.
---
 linmath.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/linmath.h b/linmath.h
index de9bae8..96725e8 100644
--- a/linmath.h
+++ b/linmath.h
@@ -321,12 +321,11 @@ LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
 	s = vec3_mul_inner(R[1], R[2]);
 	vec3_scale(h, R[2], s);
 	vec3_sub(R[1], R[1], h);
-	vec3_norm(R[2], R[2]);
+	vec3_norm(R[1], R[1]);
 
-	s = vec3_mul_inner(R[1], R[2]);
+	s = vec3_mul_inner(R[0], R[2]);
 	vec3_scale(h, R[2], s);
-	vec3_sub(R[1], R[1], h);
-	vec3_norm(R[1], R[1]);
+	vec3_sub(R[0], R[0], h);
 
 	s = vec3_mul_inner(R[0], R[1]);
 	vec3_scale(h, R[1], s);
-- 
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