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CG with projection + MGS working

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This commit is contained in:
Xuchen Han
2020-04-08 11:27:26 -07:00
parent bbdca8a4e8
commit 460164c30e
8 changed files with 360 additions and 238 deletions
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14
src/LinearMath/btReducedVector.cpp
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@@ -6,24 +6,29 @@
//
#include <stdio.h>
#include "btReducedVector.h"
#include <cmath>
// returns the projection of this onto other
btReducedVector btReducedVector::proj(const btReducedVector& other) const
{
btReducedVector ret(m_sz);
btScalar other_length2 = other.length2();
if (other_length2 == 0)
if (other_length2 < SIMD_EPSILON)
{
return ret;
}
return other*(this->dot(other) / other_length2);
return other*(this->dot(other))/other_length2;
}
void btReducedVector::normalize()
{
if (this->length2() < SIMD_EPSILON)
{
m_indices.clear();
m_vecs.clear();
return;
*this /= btSqrt(this->length2());
}
*this /= std::sqrt(this->length2());
}
bool btReducedVector::testAdd() const
@@ -119,6 +124,9 @@ bool btReducedVector::testDot() const
btReducedVector rv2(sz, id2, v2);
btScalar ans = 58;
bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
ans = 14+16+9+16+81;
ret &= (ans==rv2.dot(rv2));
if (!ret)
printf("btReducedVector testDot failed\n");
return ret;