diff options
author | Sebastian Parborg <darkdefende@gmail.com> | 2020-09-02 21:41:30 +0300 |
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committer | Sebastian Parborg <darkdefende@gmail.com> | 2020-09-02 21:41:30 +0300 |
commit | 4446c3a593c51603e135e38951607b9b668ddec5 (patch) | |
tree | 9552dbd903b4fd05ea740e1bba9b1b87d97414a1 /extern/bullet2/src/LinearMath/btPolarDecomposition.h | |
parent | 6f6f6ee18695dad66ad8aa0eb2bcab72501df597 (diff) |
Sync Bullet to upstream
This syncs Bullet to the latest upstream git version as of writing this.
(commit 47b0259b9700455022b5cf79b651cc1dc71dd59e).
Diffstat (limited to 'extern/bullet2/src/LinearMath/btPolarDecomposition.h')
-rw-r--r-- | extern/bullet2/src/LinearMath/btPolarDecomposition.h | 30 |
1 files changed, 13 insertions, 17 deletions
diff --git a/extern/bullet2/src/LinearMath/btPolarDecomposition.h b/extern/bullet2/src/LinearMath/btPolarDecomposition.h index 56156676415..bf29140a143 100644 --- a/extern/bullet2/src/LinearMath/btPolarDecomposition.h +++ b/extern/bullet2/src/LinearMath/btPolarDecomposition.h @@ -13,11 +13,8 @@ */ class btPolarDecomposition { - public: - static const btScalar DEFAULT_TOLERANCE; - static const unsigned int DEFAULT_MAX_ITERATIONS; - - /** +public: + /** * Creates an instance with optional parameters. * * @param tolerance - the tolerance used to determine convergence of the @@ -25,10 +22,10 @@ class btPolarDecomposition * @param maxIterations - the maximum number of iterations used to achieve * convergence */ - btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, - unsigned int maxIterations = DEFAULT_MAX_ITERATIONS); + btPolarDecomposition(btScalar tolerance = btScalar(0.0001), + unsigned int maxIterations = 16); - /** + /** * Decomposes a matrix into orthogonal and symmetric, positive-definite * parts. If the number of iterations returned by this function is equal to * the maximum number of iterations, the algorithm has failed to converge. @@ -39,19 +36,19 @@ class btPolarDecomposition * * @return the number of iterations performed by the algorithm. */ - unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; + unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; - /** + /** * Returns the maximum number of iterations that this algorithm will perform * to achieve convergence. * * @return maximum number of iterations */ - unsigned int maxIterations() const; + unsigned int maxIterations() const; - private: - btScalar m_tolerance; - unsigned int m_maxIterations; +private: + btScalar m_tolerance; + unsigned int m_maxIterations; }; /** @@ -67,7 +64,6 @@ class btPolarDecomposition * * @return the number of iterations performed by the algorithm. */ -unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); - -#endif // POLARDECOMPOSITION_H +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); +#endif // POLARDECOMPOSITION_H |