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return a value in a degenerate svd case

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re-disable svd by default
This commit is contained in:
Erwin Coumans 2019-10-29 20:40:57 -07:00
parent 7bffbb2351
commit 938ac51da7
1 changed files with 12 additions and 11 deletions
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23
src/LinearMath/btImplicitQRSVD.h
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@ -571,17 +571,18 @@ inline void singularValueDecomposition(
*/
inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2)
{
btScalar d = (btScalar)0.5 * (a1 - a2);
btScalar bs = b1 * b1;
btScalar val = d * d + bs;
if (val>SIMD_EPSILON)
{
btScalar denom = btFabs(d) + btSqrt(val);
btScalar mu = a2 - copySign(bs / (denom), d);
// T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs));
return mu;
}
btScalar d = (btScalar)0.5 * (a1 - a2);
btScalar bs = b1 * b1;
btScalar val = d * d + bs;
if (val>SIMD_EPSILON)
{
btScalar denom = btFabs(d) + btSqrt(val);
btScalar mu = a2 - copySign(bs / (denom), d);
// T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs));
return mu;
}
return a2;
}
/**