btPolarDecomposition.h

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#ifndef POLARDECOMPOSITION_H
#define POLARDECOMPOSITION_H
 
#include "btMatrix3x3.h"
 
class btPolarDecomposition
{
public:
    btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
                         unsigned int maxIterations = 16);
 
    unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
 
    unsigned int maxIterations() const;
 
private:
    btScalar m_tolerance;
    unsigned int m_maxIterations;
};
 
unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
 
#endif  // POLARDECOMPOSITION_H