Bullet Collision Detection & Physics Library
btPolarDecomposition.h
Go to the documentation of this file.
1 #ifndef POLARDECOMPOSITION_H
2 #define POLARDECOMPOSITION_H
3 
4 #include "btMatrix3x3.h"
5 
15 {
16  public:
17 
18 
27  btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
28  unsigned int maxIterations = 16);
29 
41  unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
42 
49  unsigned int maxIterations() const;
50 
51  private:
53  unsigned int m_maxIterations;
54 };
55 
69 unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
70 
71 #endif // POLARDECOMPOSITION_H
72 
btPolarDecomposition(btScalar tolerance=btScalar(0.0001), unsigned int maxIterations=16)
Creates an instance with optional parameters.
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...
unsigned int maxIterations() const
Returns the maximum number of iterations that this algorithm will perform to achieve convergence...
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
This class is used to compute the polar decomposition of a matrix.
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
Decomposes a matrix into orthogonal and symmetric, positive-definite parts.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292