18     const btScalar sum0 = abs_column_sum(a,0);
    19     const btScalar sum1 = abs_column_sum(a,1);
    20     const btScalar sum2 = abs_column_sum(a,2);
    26     const btScalar sum0 = abs_row_sum(a,0);
    27     const btScalar sum1 = abs_row_sum(a,1);
    28     const btScalar sum2 = abs_row_sum(a,2);
    36 : m_tolerance(tolerance)
    37 , m_maxIterations(maxIterations)
 
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
Decomposes a matrix into orthogonal and symmetric, positive-definite parts. 
unsigned int maxIterations() const
Returns the maximum number of iterations that this algorithm will perform to achieve convergence...
btPolarDecomposition(btScalar tolerance=btScalar(0.0001), unsigned int maxIterations=16)
Creates an instance with optional parameters. 
btMatrix3x3 transpose() const
Return the transpose of the matrix. 
btScalar btPow(btScalar x, btScalar y)
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...
bool btFuzzyZero(btScalar x)
const T & btMax(const T &a, const T &b)
unsigned int m_maxIterations
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btMatrix3x3 inverse() const
Return the inverse of the matrix. 
This class is used to compute the polar decomposition of a matrix. 
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)