Bullet Collision Detection & Physics Library: btPolarDecomposition.h Source File

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btPolarDecomposition.h
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1 #ifndef POLARDECOMPOSITION_H
2 #define POLARDECOMPOSITION_H
3
4 #include "btMatrix3x3.h"
5
14 class btPolarDecomposition
15 {
16 public:
17 static const btScalar DEFAULT_TOLERANCE;
18 static const unsigned int DEFAULT_MAX_ITERATIONS;
19
28 btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE,
29 unsigned int maxIterations = DEFAULT_MAX_ITERATIONS);
30
42 unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
43
50 unsigned int maxIterations() const;
51
52 private:
53 btScalar m_tolerance;
54 unsigned int m_maxIterations;
55 };
56
70 unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
71
72 #endif // POLARDECOMPOSITION_H
73
btPolarDecomposition::m_tolerance
btScalar m_tolerance
Definition: btPolarDecomposition.h:53
btPolarDecomposition::DEFAULT_TOLERANCE
static const btScalar DEFAULT_TOLERANCE
Definition: btPolarDecomposition.h:17
btMatrix3x3.h
btPolarDecomposition::DEFAULT_MAX_ITERATIONS
static const unsigned int DEFAULT_MAX_ITERATIONS
Definition: btPolarDecomposition.h:18
polarDecompose
unsigned int polarDecompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h)
This functions decomposes the matrix 'a' into two parts: an orthogonal matrix 'u' and a symmetric...
Definition: btPolarDecomposition.cpp:94
btPolarDecomposition::btPolarDecomposition
btPolarDecomposition(btScalar tolerance=DEFAULT_TOLERANCE, unsigned int maxIterations=DEFAULT_MAX_ITERATIONS)
Creates an instance with optional parameters.
Definition: btPolarDecomposition.cpp:36
btPolarDecomposition::maxIterations
unsigned int maxIterations() const
Returns the maximum number of iterations that this algorithm will perform to achieve convergence...
Definition: btPolarDecomposition.cpp:89
btPolarDecomposition::m_maxIterations
unsigned int m_maxIterations
Definition: btPolarDecomposition.h:54
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btPolarDecomposition
This class is used to compute the polar decomposition of a matrix.
Definition: btPolarDecomposition.h:14
btPolarDecomposition::decompose
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
Decomposes a matrix into orthogonal and symmetric, positive-definite parts.
Definition: btPolarDecomposition.cpp:42
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278