| Bullet Collision Detection & Physics Library
    | 
This class is used to compute the polar decomposition of a matrix. More...
#include <btPolarDecomposition.h>
| Public Member Functions | |
| btPolarDecomposition (btScalar tolerance=DEFAULT_TOLERANCE, unsigned int maxIterations=DEFAULT_MAX_ITERATIONS) | |
| Creates an instance with optional parameters.  More... | |
| unsigned int | decompose (const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const | 
| Decomposes a matrix into orthogonal and symmetric, positive-definite parts.  More... | |
| unsigned int | maxIterations () const | 
| Returns the maximum number of iterations that this algorithm will perform to achieve convergence.  More... | |
| Static Public Attributes | |
| static const btScalar | DEFAULT_TOLERANCE = btScalar(0.0001) | 
| static const unsigned int | DEFAULT_MAX_ITERATIONS = 16 | 
| Private Attributes | |
| btScalar | m_tolerance | 
| unsigned int | m_maxIterations | 
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.
Definition at line 14 of file btPolarDecomposition.h.
| btPolarDecomposition::btPolarDecomposition | ( | btScalar | tolerance = DEFAULT_TOLERANCE, | 
| unsigned int | maxIterations = DEFAULT_MAX_ITERATIONS | ||
| ) | 
Creates an instance with optional parameters.
| tolerance | - the tolerance used to determine convergence of the algorithm | 
| maxIterations | - the maximum number of iterations used to achieve convergence | 
Definition at line 36 of file btPolarDecomposition.cpp.
| unsigned int btPolarDecomposition::decompose | ( | const btMatrix3x3 & | a, | 
| btMatrix3x3 & | u, | ||
| btMatrix3x3 & | h | ||
| ) | const | 
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.
| a | - the original matrix | 
| u | - the resulting orthogonal matrix | 
| h | - the resulting symmetric matrix | 
Definition at line 42 of file btPolarDecomposition.cpp.
| unsigned int btPolarDecomposition::maxIterations | ( | ) | const | 
Returns the maximum number of iterations that this algorithm will perform to achieve convergence.
Definition at line 89 of file btPolarDecomposition.cpp.
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 | static | 
Definition at line 18 of file btPolarDecomposition.h.
Definition at line 17 of file btPolarDecomposition.h.
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 | private | 
Definition at line 54 of file btPolarDecomposition.h.
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 | private | 
Definition at line 53 of file btPolarDecomposition.h.
 1.8.11
 1.8.11