Bullet Collision Detection & Physics Library: btPolarDecomposition.h File Reference

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btPolarDecomposition.h File Reference
`#include "btMatrix3x3.h"`
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## Classes
class | btPolarDecomposition
| This class is used to compute the polar decomposition of a matrix. More...

## Functions
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, positive-definite matrix 'h'. More...

## Function Documentation

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, positive-definite matrix 'h'.

If the number of iterations returned by this function is equal to btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to converge.

Parameters

  a | - the original matrix
  u | - the resulting orthogonal matrix
  h | - the resulting symmetric matrix

Returns
  the number of iterations performed by the algorithm.

Definition at line 94 of file btPolarDecomposition.cpp.