/// <summary>
/// Enforce orthogonality between two vectors.
/// </summary>
private static void EnforceOrthogonality(Vector3 v, ref Vector3 vOrthogonal)
{
if (Math.Abs(Vector3.Dot(v, vOrthogonal)) > LinearAlgebra.EpsilonSingleWeak)
{
vOrthogonal = vOrthogonal.ProjectOrthogonal(v);
if (vOrthogonal.IsNearZero())
throw new Exception("Cannot enforce orthogonality on parallel vectors");
vOrthogonal.Normalize();
}
}