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source: code/branches/physics/src/ogreode/OgreOdeEigenSolver.h @ 1983

Last change on this file since 1983 was 1923, checked in by rgrieder, 16 years ago

Cleaned up the heavy mess with header file includes in OgreOde. It should now compile a lot faster.

  • Property svn:eol-style set to native
File size: 2.6 KB
Line 
1#ifndef _OGREODEEIGENSOLVER_H_
2#define _OGREODEEIGENSOLVER_H_
3
4#include "OgreOdePreReqs.h"
5
6#include <OgreMatrix3.h>
7
8namespace OgreOde
9{
10        class _OgreOdeExport EigenSolver
11        {
12        public:
13                EigenSolver(int iSize);
14                ~EigenSolver();
15
16                // set the matrix for eigensolving
17                Ogre::Real& operator() (int iRow, int iCol);
18
19                // Get the eigenresults (eigenvectors are columns of eigenmatrix).  The
20                // GetEigenvector calls involving Vector2, Ogre::Vector3, and Vector4 should
21                // only be called if you know that the eigenmatrix is of the appropriate
22                // size.
23            void GetEigenvector (int i, Ogre::Vector3& rkV) const;
24                Ogre::Real GetEigenvalue (int i) const;
25
26                // solve eigensystem, use decreasing sort on eigenvalues
27            void DecrSortEigenStuff3 ();
28                void IncrSortEigenStuff3 ();
29
30                static void GenerateOrthonormalBasis (Ogre::Vector3& rkU, Ogre::Vector3& rkV, Ogre::Vector3& rkW, bool bUnitLengthW);
31                static void orthogonalLineFit(unsigned int vertex_count, const Ogre::Vector3* vertices, Ogre::Vector3& origin, Ogre::Vector3& direction);
32                static Ogre::Real SqrDistance(const Ogre::Vector3& rkPoint,const Ogre::Vector3& origin,const Ogre::Vector3& direction);
33                static void GaussPointsFit(unsigned int iQuantity,const Ogre::Vector3* akPoint, Ogre::Vector3 &rkCenter, Ogre::Vector3 akAxis[3], Ogre::Real afExtent[3]);
34
35        protected:
36                int m_iSize;
37                Ogre::Matrix3 m_kMat;
38                Ogre::Real* m_afDiag;
39                Ogre::Real* m_afSubd;
40
41                // For odd size matrices, the Householder reduction involves an odd
42                // number of reflections.  The product of these is a reflection.  The
43                // QL algorithm uses rotations for further reductions.  The final
44                // orthogonal matrix whose columns are the eigenvectors is a reflection,
45                // so its determinant is -1.  For even size matrices, the Householder
46                // reduction involves an even number of reflections whose product is a
47                // rotation.  The final orthogonal matrix has determinant +1.  Many
48                // algorithms that need an eigendecomposition want a rotation matrix.
49                // We want to guarantee this is the case, so m_bRotation keeps track of
50                // this.  The DecrSort and IncrSort further complicate the issue since
51                // they swap columns of the orthogonal matrix, causing the matrix to
52                // toggle between rotation and reflection.  The value m_bRotation must
53                // be toggled accordingly.
54                bool m_bIsRotation;
55                void GuaranteeRotation ();
56
57                // Householder reduction to tridiagonal form
58            void Tridiagonal3 ();
59 
60                // QL algorithm with implicit shifting, applies to tridiagonal matrices
61                bool QLAlgorithm ();
62
63                // sort eigenvalues from largest to smallest
64                void DecreasingSort ();
65
66                void IncreasingSort ();
67        };
68}
69
70#endif
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