1 #ifndef POLARDECOMPOSITION_H
2 #define POLARDECOMPOSITION_H
4 #include "btMatrix3x3.h"
7 * This class is used to compute the polar decomposition of a matrix. In
8 * general, the polar decomposition factorizes a matrix, A, into two parts: a
9 * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
10 * However, in this particular implementation the original matrix, A, is
11 * required to be a square 3x3 matrix with real elements. This means that U will
12 * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
14 class btPolarDecomposition
18 * Creates an instance with optional parameters.
20 * @param tolerance - the tolerance used to determine convergence of the
22 * @param maxIterations - the maximum number of iterations used to achieve
25 btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
26 unsigned int maxIterations = 16);
29 * Decomposes a matrix into orthogonal and symmetric, positive-definite
30 * parts. If the number of iterations returned by this function is equal to
31 * the maximum number of iterations, the algorithm has failed to converge.
33 * @param a - the original matrix
34 * @param u - the resulting orthogonal matrix
35 * @param h - the resulting symmetric matrix
37 * @return the number of iterations performed by the algorithm.
39 unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
42 * Returns the maximum number of iterations that this algorithm will perform
43 * to achieve convergence.
45 * @return maximum number of iterations
47 unsigned int maxIterations() const;
51 unsigned int m_maxIterations;
55 * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
56 * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
57 * iterations returned by this function is equal to
58 * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
61 * @param a - the original matrix
62 * @param u - the resulting orthogonal matrix
63 * @param h - the resulting symmetric matrix
65 * @return the number of iterations performed by the algorithm.
67 unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
69 #endif // POLARDECOMPOSITION_H