btPolarDecomposition.h

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00001 #ifndef POLARDECOMPOSITION_H
00002 #define POLARDECOMPOSITION_H
00003 
00004 #include "btMatrix3x3.h"
00005 
00014 class btPolarDecomposition
00015 {
00016   public:
00017     static const btScalar DEFAULT_TOLERANCE;
00018     static const unsigned int DEFAULT_MAX_ITERATIONS;
00019 
00028     btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, 
00029       unsigned int maxIterations = DEFAULT_MAX_ITERATIONS);
00030 
00042     unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; 
00043 
00050     unsigned int maxIterations() const;
00051 
00052   private:
00053     btScalar m_tolerance;
00054     unsigned int m_maxIterations;
00055 };
00056 
00070 unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); 
00071 
00072 #endif // POLARDECOMPOSITION_H
00073