Scanline::Scanline(const vector3& origin, const vector3& direction, const vector3& lateral_dir, float timestamp) :
origin(origin), direction(direction), lateral_dir(lateral_dir), timestamp(timestamp) {
elevational_dir = lateral_dir.cross(direction);
// TODO: Should all vectors be normalized here?
if (!is_orthogonal()) throw std::runtime_error("Invalid Scanline: Not orthogonal unit vectors");
if (!is_normalized()) throw std::runtime_error("Invalid Scanline: Not unit length vectors");
}
vector3<float> get_rotation_axis(vector3<float> u, vector3<float> v) {
u.normalize();
v.normalize();
// fix linear case
if (u == v || u == -v) {
v[0] += 0.1;
v[1] += 0.0;
v[2] += 0.1;
v.normalize();
}
return u.cross(v);
}
