FUNCTION second_proj_axis
(z_axis : direction, x_axis : direction, arg : direction) : direction;
LOCAL y_axis : vector; v : direction; temp : vector; END_LOCAL; IF NOT EXISTS(arg) THEN v := dummy_gri || direction([0.0,1.0,0.0]); ELSE v := arg; END_IF; temp := scalar_times_vector(dot_product(v, z_axis), z_axis); y_axis := vector_difference(v, temp); temp := scalar_times_vector(dot_product(v, x_axis), x_axis); y_axis := vector_difference(y_axis, temp); y_axis := normalise(y_axis); RETURN(y_axis.orientation); END_FUNCTION; -- second_proj_axis
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