Algorithm 2 Normalize geometry
1: procedure Extents(G)	▹ Calculates extents for geometry G
2:  $mi{n}_x,mi{n}_y,mi{n}_z\leftarrow Infinity$	▹ Initialize $min$ vector
3:  $ma{x}_x,ma{x}_y,ma{x}_z\leftarrow -Infinity$	▹ Initialize $max$ vector
4:  for each $v\in G$ do	▹ For each vertex v
5:   $mi{n}_x\leftarrow min(v_x,mi{n}_x)$
6:   $mi{n}_y\leftarrow min(v_y,mi{n}_y)$
7:   $mi{n}_z\leftarrow min(v_z,mi{n}_z)$
8:   $ma{x}_x\leftarrow max(v_x,ma{x}_x)$
9:   $ma{x}_y\leftarrow max(v_y,ma{x}_y)$
10:   $ma{x}_z\leftarrow max(v_z,ma{x}_z)$
11:  end for
12:  return $min,max$
13: end procedure
14: $min,max\leftarrow EXTENTS\left(G\right)$
15: $bounds\leftarrow max-min$
16: $max\_bound\leftarrow 1/max(bound{s}_x,bound{s}_y,bound{s}_z)$
17: for each $v\in G$ do	▹ For each vertex v
18:  $v_x\leftarrow v_x/max\_bound$
19:  $v_y\leftarrow v_y/max\_bound$
20:  $v_z\leftarrow (v_z-mi{n}_z)/max\_bound$	▹ Offset the vertex on up axis before normalizing bounds
21: end for