b7901c773c
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads SCons into not properly rebuilding all files when headers change. This means we also need to make sure Bullet builds without warning, and current version fares fairly well, there were just a couple to fix (patch included). Increase minimum version for distro packages to 2.90 (this was never released as the "next" version after 2.89 was 3.05... but that covers it too).
39 lines
2.2 KiB
C++
39 lines
2.2 KiB
C++
// poly34.h : solution of cubic and quartic equation
|
|
// (c) Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html
|
|
// khash2 (at) gmail.com
|
|
|
|
#ifndef POLY_34
|
|
#define POLY_34
|
|
#include "LinearMath/btScalar.h"
|
|
// x - array of size 2
|
|
// return 2: 2 real roots x[0], x[1]
|
|
// return 0: pair of complex roots: x[0]i*x[1]
|
|
int SolveP2(btScalar* x, btScalar a, btScalar b); // solve equation x^2 + a*x + b = 0
|
|
|
|
// x - array of size 3
|
|
// return 3: 3 real roots x[0], x[1], x[2]
|
|
// return 1: 1 real root x[0] and pair of complex roots: x[1]i*x[2]
|
|
int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c); // solve cubic equation x^3 + a*x^2 + b*x + c = 0
|
|
|
|
// x - array of size 4
|
|
// return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
|
|
// return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
|
|
// return 0: two pair of complex roots: x[0]i*x[1], x[2]i*x[3],
|
|
int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d); // solve equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method
|
|
|
|
// x - array of size 5
|
|
// return 5: 5 real roots x[0], x[1], x[2], x[3], x[4], possible multiple roots
|
|
// return 3: 3 real roots x[0], x[1], x[2] and complex x[3]i*x[4],
|
|
// return 1: 1 real root x[0] and two pair of complex roots: x[1]i*x[2], x[3]i*x[4],
|
|
int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// And some additional functions for internal use.
|
|
// Your may remove this definitions from here
|
|
int SolveP4Bi(btScalar* x, btScalar b, btScalar d); // solve equation x^4 + b*x^2 + d = 0
|
|
int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d); // solve equation x^4 + b*x^2 + c*x + d = 0
|
|
void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b); // returns as a+i*s, sqrt(x+i*y)
|
|
btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d); // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
|
|
btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
|
|
#endif
|