diff options
| author | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-02-06 19:45:51 +0300 |
|---|---|---|
| committer | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-02-06 19:45:51 +0300 |
| commit | a8145c26f22f72c2756736ef829d2c247dc89d60 (patch) | |
| tree | 0d93ec26898552beb8aeee3b650414c7cde9ee9d /intern/iksolver | |
| parent | 03402b84199cc1615504a6031d3995e0d08eea02 (diff) | |
Bugfix: IK solving could go in infinite loop in SVD decomposition,
the matrix library used didn't have a maximum iterations check for
degenerate cases.
Diffstat (limited to 'intern/iksolver')
| -rw-r--r-- | intern/iksolver/intern/TNT/svd.h | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/intern/iksolver/intern/TNT/svd.h b/intern/iksolver/intern/TNT/svd.h index af281d0fce0..9ca51fa2650 100644 --- a/intern/iksolver/intern/TNT/svd.h +++ b/intern/iksolver/intern/TNT/svd.h @@ -18,11 +18,13 @@ #include "tntmath.h" +#define SVD_MAX_ITER 200 + namespace TNT { template <class MaTRiX, class VecToR > -void SVD(MaTRiX &A, MaTRiX &U, VecToR &s, MaTRiX &V, VecToR &work1, VecToR &work2) { +void SVD(MaTRiX &A, MaTRiX &U, VecToR &s, MaTRiX &V, VecToR &work1, VecToR &work2, int maxiter=SVD_MAX_ITER) { int m = A.num_rows(); int n = A.num_cols(); @@ -216,7 +218,10 @@ void SVD(MaTRiX &A, MaTRiX &U, VecToR &s, MaTRiX &V, VecToR &work1, VecToR &work int kase=0; k=0; - // Here is where a test for too many iterations would go. + // Test for maximum iterations to avoid infinite loop + if(maxiter == 0) + break; + maxiter--; // This section of the program inspects for // negligible elements in the s and e arrays. On |