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.
41 lines
798 B
C++
41 lines
798 B
C++
#include "btCholeskyDecomposition.h"
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int choleskyDecompose(const btMatrix3x3& A, btMatrix3x3& L)
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{
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// TODO Check that the A matrix is symmetric
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// Iterate over the elements of the upper triangle of A
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for (unsigned int i = 0; i < 3; ++i)
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{
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for (unsigned int j = i; j < 3; ++j)
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{
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btScalar sum = A[i][j];
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for (unsigned int k = 0; k < i; ++k)
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{
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sum -= L[i][k] * L[j][k];
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}
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if (i != j)
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{
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L[j][i] = sum / L[i][i];
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}
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else
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{
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if (sum <= btScalar(0))
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{
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return btCholeskyDecomposition::FAILURE_POSITIVE_DEFINITE;
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}
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L[i][i] = sqrt(sum);
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}
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}
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}
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L[0][1] = btScalar(0);
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L[0][2] = btScalar(0);
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L[1][2] = btScalar(0);
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return btCholeskyDecomposition::SUCCESS;
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}
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