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vecmat3: diagonalization replaced by Jacobi to avoid numerical errors when already close to diagonal

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Jiri Pittner
2024-01-26 23:03:04 +01:00
parent 1ee984eda2
commit c77c112dbf
3 changed files with 152 additions and 23 deletions
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vecmat3.h
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@@ -183,8 +183,7 @@ public:
int fprintf(FILE *f, const char *format) const {int n= ::fprintf(f,format,q[0][0],q[0][1],q[0][2]); n+=::fprintf(f,format,q[1][0],q[1][1],q[1][2]); n+=::fprintf(f,format,q[2][0],q[2][1],q[2][2]); return n;};
int fscanf(FILE *f, const char *format) const {return ::fscanf(f,format,q[0][0],q[0][1],q[0][2]) + ::fscanf(f,format,q[1][0],q[1][1],q[1][2]) + ::fscanf(f,format,q[2][0],q[2][1],q[2][2]);};
void symmetrize(); //average offdiagonal elements
void eival_sym(Vec3<T> &w, const bool sortdown=false) const; //only for real symmetric matrix, symmetry is not checked
void eivec_sym(Vec3<T> &w, Mat3 &v, const bool sortdown=false) const; //only for real symmetric matrix, symmetry is not checked
bool eivec_sym(Vec3<T> &w, Mat3 &v, const bool sortdown=false) const; //only for real symmetric matrix, symmetry is not checked, returns false on success
T norm(const T scalar = 0) const;
void qrd(Mat3 &q, Mat3 &r); //not const, destroys the matrix
void svd(Mat3 &u, Vec3<T> &w, Mat3 &v, bool proper_rotations=false) const; //if proper_rotations = true, singular value can be negative but u and v are proper rotations