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, positivedefinite 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, semidefinite 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 positivedefinite, 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, positivedefinite 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.

static 
Definition at line 18 of file btPolarDecomposition.h.
Definition at line 17 of file btPolarDecomposition.h.

private 
Definition at line 54 of file btPolarDecomposition.h.

private 
Definition at line 53 of file btPolarDecomposition.h.