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Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btPolarDecomposition.h')
-rw-r--r-- | thirdparty/bullet/src/LinearMath/btPolarDecomposition.h | 72 |
1 files changed, 0 insertions, 72 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h deleted file mode 100644 index 1feea0f78e..0000000000 --- a/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h +++ /dev/null @@ -1,72 +0,0 @@ -#ifndef POLARDECOMPOSITION_H -#define POLARDECOMPOSITION_H - -#include "btMatrix3x3.h" - -/** - * 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. - */ -class btPolarDecomposition -{ - public: - - - /** - * Creates an instance with optional parameters. - * - * @param tolerance - the tolerance used to determine convergence of the - * algorithm - * @param maxIterations - the maximum number of iterations used to achieve - * convergence - */ - 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. - * - * @param a - the original matrix - * @param u - the resulting orthogonal matrix - * @param h - the resulting symmetric matrix - * - * @return the number of iterations performed by the algorithm. - */ - 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; - - private: - btScalar m_tolerance; - unsigned int m_maxIterations; -}; - -/** - * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix - * 'u' and a symmetric, positive-definite matrix 'h'. If the number of - * iterations returned by this function is equal to - * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to - * converge. - * - * @param a - the original matrix - * @param u - the resulting orthogonal matrix - * @param h - the resulting symmetric matrix - * - * @return the number of iterations performed by the algorithm. - */ -unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); - -#endif // POLARDECOMPOSITION_H - |