diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2022-03-09 21:15:53 +0100 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2022-03-09 21:45:47 +0100 |
| commit | 3d7f1555865a981b7144becfc58d3f3f34362f5f (patch) | |
| tree | d92912c6d700468b3330148b9179026b9f4efcb4 /thirdparty/bullet/LinearMath/btPolarDecomposition.cpp | |
| parent | 33c907f9f5b3ec1a43d0251d7cac80da49b5b658 (diff) | |
Remove unused Bullet module and thirdparty code
It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.
Diffstat (limited to 'thirdparty/bullet/LinearMath/btPolarDecomposition.cpp')
| -rw-r--r-- | thirdparty/bullet/LinearMath/btPolarDecomposition.cpp | 94 |
1 files changed, 0 insertions, 94 deletions
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp deleted file mode 100644 index d9c72a8014..0000000000 --- a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp +++ /dev/null @@ -1,94 +0,0 @@ -#include "btPolarDecomposition.h" -#include "btMinMax.h" - -namespace -{ -btScalar abs_column_sum(const btMatrix3x3& a, int i) -{ - return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]); -} - -btScalar abs_row_sum(const btMatrix3x3& a, int i) -{ - return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]); -} - -btScalar p1_norm(const btMatrix3x3& a) -{ - const btScalar sum0 = abs_column_sum(a, 0); - const btScalar sum1 = abs_column_sum(a, 1); - const btScalar sum2 = abs_column_sum(a, 2); - return btMax(btMax(sum0, sum1), sum2); -} - -btScalar pinf_norm(const btMatrix3x3& a) -{ - const btScalar sum0 = abs_row_sum(a, 0); - const btScalar sum1 = abs_row_sum(a, 1); - const btScalar sum2 = abs_row_sum(a, 2); - return btMax(btMax(sum0, sum1), sum2); -} -} // namespace - -btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations) - : m_tolerance(tolerance), m_maxIterations(maxIterations) -{ -} - -unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const -{ - // Use the 'u' and 'h' matrices for intermediate calculations - u = a; - h = a.inverse(); - - for (unsigned int i = 0; i < m_maxIterations; ++i) - { - const btScalar h_1 = p1_norm(h); - const btScalar h_inf = pinf_norm(h); - const btScalar u_1 = p1_norm(u); - const btScalar u_inf = pinf_norm(u); - - const btScalar h_norm = h_1 * h_inf; - const btScalar u_norm = u_1 * u_inf; - - // The matrix is effectively singular so we cannot invert it - if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm)) - break; - - const btScalar gamma = btPow(h_norm / u_norm, 0.25f); - const btScalar inv_gamma = btScalar(1.0) / gamma; - - // Determine the delta to 'u' - const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5); - - // Update the matrices - u += delta; - h = u.inverse(); - - // Check for convergence - if (p1_norm(delta) <= m_tolerance * u_1) - { - h = u.transpose() * a; - h = (h + h.transpose()) * 0.5; - return i; - } - } - - // The algorithm has failed to converge to the specified tolerance, but we - // want to make sure that the matrices returned are in the right form. - h = u.transpose() * a; - h = (h + h.transpose()) * 0.5; - - return m_maxIterations; -} - -unsigned int btPolarDecomposition::maxIterations() const -{ - return m_maxIterations; -} - -unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) -{ - static btPolarDecomposition polar; - return polar.decompose(a, u, h); -} |