3b83428a7f
Applied picking cloth patch. Fixes Issue 646. Thanks to Dongsoo. Applied patch Softbody updateConstraints. Fixes Issue 503. Thanks to Dave Bruce Phillips and Dongsoo. Fix various warnigns under Mac OSX.
89 lines
2.6 KiB
C++
89 lines
2.6 KiB
C++
#ifndef TESTPOLARDECOMPOSITION_H
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#define TESTPOLARDECOMPOSITION_H
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#include <cppunit/TestFixture.h>
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#include <cppunit/extensions/HelperMacros.h>
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#include <LinearMath/btMatrix3x3.h>
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class TestPolarDecomposition : public CppUnit::TestFixture
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{
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public:
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void setUp()
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{
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I.setIdentity();
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}
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void tearDown()
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{
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}
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void testPoorlyConditionedMatrix();
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void testSingularMatrix();
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void testNonSingularMatrix();
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void testIdentityMatrix();
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void testZeroMatrix();
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CPPUNIT_TEST_SUITE(TestPolarDecomposition);
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CPPUNIT_TEST(testZeroMatrix);
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CPPUNIT_TEST(testSingularMatrix);
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CPPUNIT_TEST(testPoorlyConditionedMatrix);
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CPPUNIT_TEST(testIdentityMatrix);
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CPPUNIT_TEST(testNonSingularMatrix);
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CPPUNIT_TEST_SUITE_END();
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private:
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/**
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* Returns TRUE if the specified matrix is orthogonal and FALSE otherwise.
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* Orthogonality is checked by pre-multiplying the matrix by its transpose
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* and comparing the result to the identity matrix.
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*
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* @param A - the matrix that is being tested
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*
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* @return a boolean indicating whether the specified matrix is orthogonal.
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*/
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bool isOrthogonal(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrix is symmetric and FALSE otherwise.
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* The symmetry of the matrix is determined by simplying testing the
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* equality of the three off-diagonal elements.
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*
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* @param A - the matrix that is being tested.
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*
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* @return a boolean indicating whether the specified matrix is symmetric.
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*/
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bool isSymmetric(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrix is positive definite and FALSE
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* otherwise. The positive definiteness of the matrix is determined by
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* calculating the Cholesky decomposition of the matrix; If the Cholesky
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* decomposition exists, the original matrix is positive definite.
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*
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* @param A - the matrix that is being tested.
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*
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* @return a boolean indicating whether the specified matrix is positive
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* definite.
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*/
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bool isPositiveDefinite(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrices are equal and FALSE otherwise.
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*
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* @param A - the first matrix to be tested.
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* @param B - the second matrix to be tested.
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*
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* @return a boolean indicating whether the specified matrix is symmetric.
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*/
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bool equal(const btMatrix3x3& A, const btMatrix3x3& B) const;
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private:
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btMatrix3x3 U;
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btMatrix3x3 H;
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btMatrix3x3 I;
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};
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#endif // TESTPOLARDECOMPOSITION_H
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