diff options
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 |