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Merge pull request #1668 from erwincoumans/master

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Revert back to using the Jacobi method to diagonalize a symmetric mat…
This commit is contained in:
erwincoumans
2018-05-03 06:39:48 -07:00
committed by GitHub
parent 6b9cc34064 0e2d0fda1a
commit 475d56e1ac
1 changed files with 90 additions and 18 deletions
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108
src/LinearMath/btMatrix3x3.h
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@@ -649,6 +649,10 @@ public:
///extractRotation is from "A robust method to extract the rotational part of deformations"
///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
///decomposes a matrix A in a orthogonal matrix R and a
///symmetric matrix S:
///A = R*S.
///note that R can include both rotation and scaling.
SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100)
{
int iter =0;
@@ -673,25 +677,93 @@ public:
/**@brief diagonalizes this matrix
* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
* coordinate system, i.e., old_this = rot * new_this * rot^T.
* @param threshold See iteration
* @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed.
*/
void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100)
{
btQuaternion r;
r = btQuaternion::getIdentity();
extractRotation(r,tolerance,maxIter);
rot.setRotation(r);
btMatrix3x3 rotInv = btMatrix3x3(r.inverse());
btMatrix3x3 old = *this;
setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]),
old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]),
old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2]));
}
/**@brief diagonalizes this matrix by the Jacobi method.
* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
* coordinate system, i.e., old_this = rot * new_this * rot^T.
* @param threshold See iteration
* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
*
* Note that this matrix is assumed to be symmetric.
*/
void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
{
rot.setIdentity();
for (int step = maxSteps; step > 0; step--)
{
// find off-diagonal element [p][q] with largest magnitude
int p = 0;
int q = 1;
int r = 2;
btScalar max = btFabs(m_el[0][1]);
btScalar v = btFabs(m_el[0][2]);
if (v > max)
{
q = 2;
r = 1;
max = v;
}
v = btFabs(m_el[1][2]);
if (v > max)
{
p = 1;
q = 2;
r = 0;
max = v;
}
btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
if (max <= t)
{
if (max <= SIMD_EPSILON * t)
{
return;
}
step = 1;
}
// compute Jacobi rotation J which leads to a zero for element [p][q]
btScalar mpq = m_el[p][q];
btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
btScalar theta2 = theta * theta;
btScalar cos;
btScalar sin;
if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
{
t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
: 1 / (theta - btSqrt(1 + theta2));
cos = 1 / btSqrt(1 + t * t);
sin = cos * t;
}
else
{
// approximation for large theta-value, i.e., a nearly diagonal matrix
t = 1 / (theta * (2 + btScalar(0.5) / theta2));
cos = 1 - btScalar(0.5) * t * t;
sin = cos * t;
}
// apply rotation to matrix (this = J^T * this * J)
m_el[p][q] = m_el[q][p] = 0;
m_el[p][p] -= t * mpq;
m_el[q][q] += t * mpq;
btScalar mrp = m_el[r][p];
btScalar mrq = m_el[r][q];
m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
// apply rotation to rot (rot = rot * J)
for (int i = 0; i < 3; i++)
{
btVector3& row = rot[i];
mrp = row[p];
mrq = row[q];
row[p] = cos * mrp - sin * mrq;
row[q] = cos * mrq + sin * mrp;
}
}
}