Changeset 5647 in orxonox.OLD for branches/network/src/lib/collision_detection/lin_alg.h

Timestamp:

Nov 20, 2005, 12:25:50 AM (19 years ago)

Author:

patrick

Message:

network: modiefied the unit test to enable diffrent modes, extended the NetworkStream constructors interface and NetworkManager interface

File:

• branches/network/src/lib/collision_detection/lin_alg.h (modified) (1 diff)

branches/network/src/lib/collision_detection/lin_alg.h

@@ -5 +5 @@
     compute the eigenpairs (eigenvalues and eigenvectors) of a real symmetric matrix "A" by the Jacobi method
  */
+
+
+/**
+ *  function that calculates the eigenvectors from a given symmertical 3x3 Matrix
+ * @arg A: Matrix
+ * @arg D: Eigenvectors
+ */
+void eigenVectors(float** matrix, float **vectors)
+{
+  /* map variables to other names, so they can be processed more easely */
+  float a = matrix[0][0];
+  float b = matrix[0][1];
+  float c = matrix[0][2];
+  float d = matrix[1][1];
+  float e = matrix[1][2];
+  float f = matrix[2][2];
+  
+  /* first eigenvector */
+  vectors[0][0] = -1/c * (f - /*Root*/ (c*c*d - 2*b*c + a*e*e + b*b*f - a*d*f - 
+                  b*b - c*c + a*d - e*e + a*f ));
+}