Differential D8762 Diff 28333 extern/bullet2/src/LinearMath/btPolarDecomposition.h

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extern/bullet2/src/LinearMath/btPolarDecomposition.h

	#ifndef POLARDECOMPOSITION_H			#ifndef POLARDECOMPOSITION_H
	#define POLARDECOMPOSITION_H			#define POLARDECOMPOSITION_H

	#include "btMatrix3x3.h"			#include "btMatrix3x3.h"

	/**			/**
	* This class is used to compute the polar decomposition of a matrix. In			* 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			* general, the polar decomposition factorizes a matrix, A, into two parts: a
	* unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).			* unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
	* However, in this particular implementation the original matrix, A, is			* 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			* 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.			* be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
	*/			*/
	class btPolarDecomposition			class btPolarDecomposition
	{			{
	public:			public:
	static const btScalar DEFAULT_TOLERANCE;
	static const unsigned int DEFAULT_MAX_ITERATIONS;

	/**			/**
	* Creates an instance with optional parameters.			* Creates an instance with optional parameters.
	*			*
	* @param tolerance - the tolerance used to determine convergence of the			* @param tolerance - the tolerance used to determine convergence of the
	* algorithm			* algorithm
	* @param maxIterations - the maximum number of iterations used to achieve			* @param maxIterations - the maximum number of iterations used to achieve
	* convergence			* convergence
	*/			*/
	btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE,			btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
	unsigned int maxIterations = DEFAULT_MAX_ITERATIONS);			unsigned int maxIterations = 16);

	/**			/**
	* Decomposes a matrix into orthogonal and symmetric, positive-definite			* Decomposes a matrix into orthogonal and symmetric, positive-definite
	* parts. If the number of iterations returned by this function is equal to			* parts. If the number of iterations returned by this function is equal to
	* the maximum number of iterations, the algorithm has failed to converge.			* the maximum number of iterations, the algorithm has failed to converge.
	*			*
	* @param a - the original matrix			* @param a - the original matrix
	* @param u - the resulting orthogonal matrix			* @param u - the resulting orthogonal matrix
	* @param h - the resulting symmetric matrix			* @param h - the resulting symmetric matrix
	*			*
	* @return the number of iterations performed by the algorithm.			* @return the number of iterations performed by the algorithm.
	*/			*/
	unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;			unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;

	/**			/**
	* Returns the maximum number of iterations that this algorithm will perform			* Returns the maximum number of iterations that this algorithm will perform
	* to achieve convergence.			* to achieve convergence.
	*			*
	* @return maximum number of iterations			* @return maximum number of iterations
	*/			*/
	unsigned int maxIterations() const;			unsigned int maxIterations() const;

	private:			private:
	btScalar m_tolerance;			btScalar m_tolerance;
	unsigned int m_maxIterations;			unsigned int m_maxIterations;
	};			};

	/**			/**
	* This functions decomposes the matrix 'a' into two parts: an orthogonal matrix			* This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
	* 'u' and a symmetric, positive-definite matrix 'h'. If the number of			* 'u' and a symmetric, positive-definite matrix 'h'. If the number of
	* iterations returned by this function is equal to			* iterations returned by this function is equal to
	* btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to			* btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
	* converge.			* converge.
	*			*
	* @param a - the original matrix			* @param a - the original matrix
	* @param u - the resulting orthogonal matrix			* @param u - the resulting orthogonal matrix
	* @param h - the resulting symmetric matrix			* @param h - the resulting symmetric matrix
	*			*
	* @return the number of iterations performed by the algorithm.			* @return the number of iterations performed by the algorithm.
	*/			*/
	unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);			unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);

	#endif // POLARDECOMPOSITION_H			#endif // POLARDECOMPOSITION_H