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author | Sergej Reich <sergej.reich@googlemail.com> | 2013-03-07 21:53:16 +0400 |
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committer | Sergej Reich <sergej.reich@googlemail.com> | 2013-03-07 21:53:16 +0400 |
commit | 643b0be4cb3f73bd876493d2a7bd6f76ef27cf06 (patch) | |
tree | 33fa8c08a902176f4204b6cc6a18702997bd90ba /extern/bullet2/src/LinearMath/btPolarDecomposition.h | |
parent | 46d32c89f6df911120579d00dd6e1246536cb6d8 (diff) |
bullet: Update to current svn, r2636
Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.
Fixes [#32233] exporting bullet format results in corrupt files.
Diffstat (limited to 'extern/bullet2/src/LinearMath/btPolarDecomposition.h')
-rw-r--r-- | extern/bullet2/src/LinearMath/btPolarDecomposition.h | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/btPolarDecomposition.h b/extern/bullet2/src/LinearMath/btPolarDecomposition.h new file mode 100644 index 00000000000..56156676415 --- /dev/null +++ b/extern/bullet2/src/LinearMath/btPolarDecomposition.h @@ -0,0 +1,73 @@ +#ifndef POLARDECOMPOSITION_H +#define POLARDECOMPOSITION_H + +#include "btMatrix3x3.h" + +/** + * This class is used to compute the polar decomposition of a matrix. In + * general, the polar decomposition factorizes a matrix, A, into two parts: a + * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H). + * However, in this particular implementation the original matrix, A, is + * required to be a square 3x3 matrix with real elements. This means that U will + * be an orthogonal matrix and H with be a positive-definite, symmetric matrix. + */ +class btPolarDecomposition +{ + public: + static const btScalar DEFAULT_TOLERANCE; + static const unsigned int DEFAULT_MAX_ITERATIONS; + + /** + * Creates an instance with optional parameters. + * + * @param tolerance - the tolerance used to determine convergence of the + * algorithm + * @param maxIterations - the maximum number of iterations used to achieve + * convergence + */ + btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, + unsigned int maxIterations = DEFAULT_MAX_ITERATIONS); + + /** + * 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. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ + 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; + + private: + btScalar m_tolerance; + unsigned int m_maxIterations; +}; + +/** + * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix + * 'u' and a symmetric, positive-definite matrix 'h'. If the number of + * iterations returned by this function is equal to + * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to + * converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); + +#endif // POLARDECOMPOSITION_H + |