GaussianElimination.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
JPH_NAMESPACE_BEGIN
 
template <class MatrixA, class MatrixB>
bool GaussianElimination(MatrixA &ioA, MatrixB &ioB, float inTolerance = 1.0e-16f)
{
    // Get problem dimensions
    const uint n = ioA.GetCols();
    const uint m = ioB.GetCols();
 
    // Check matrix requirement
    JPH_ASSERT(ioA.GetRows() == n);
    JPH_ASSERT(ioB.GetRows() == n);
 
    // Create array for bookkeeping on pivoting
    int *ipiv = (int *)JPH_STACK_ALLOC(n * sizeof(int));
    memset(ipiv, 0, n * sizeof(int));
 
    for (uint i = 0; i < n; ++i)
    {
        // Initialize pivot element as the diagonal
        uint pivot_row = i, pivot_col = i;
 
        // Determine pivot element
        float largest_element = 0.0f;
        for (uint j = 0; j < n; ++j)
            if (ipiv[j] != 1)
                for (uint k = 0; k < n; ++k)
                {
                    if (ipiv[k] == 0)
                    {
                        float element = abs(ioA(j, k));
                        if (element >= largest_element)
                        {
                            largest_element = element;
                            pivot_row = j;
                            pivot_col = k;
                        }
                    }
                    else if (ipiv[k] > 1)
                    {
                        return false;
                    }
                }
 
        // Mark this column as used
        ++ipiv[pivot_col];
 
        // Exchange rows when needed so that the pivot element is at ioA(pivot_col, pivot_col) instead of at ioA(pivot_row, pivot_col)
        if (pivot_row != pivot_col)
        {
            for (uint j = 0; j < n; ++j)
                swap(ioA(pivot_row, j), ioA(pivot_col, j));
            for (uint j = 0; j < m; ++j)
                swap(ioB(pivot_row, j), ioB(pivot_col, j));
        }
 
        // Get diagonal element that we are about to set to 1
        float diagonal_element = ioA(pivot_col, pivot_col);
        if (abs(diagonal_element) < inTolerance)
            return false;
 
        // Divide the whole row by the pivot element, making ioA(pivot_col, pivot_col) = 1
        for (uint j = 0; j < n; ++j)
            ioA(pivot_col, j) /= diagonal_element;
        for (uint j = 0; j < m; ++j)
            ioB(pivot_col, j) /= diagonal_element;
        ioA(pivot_col, pivot_col) = 1.0f;
 
        // Next reduce the rows, except for the pivot one,
        // after this step the pivot_col column is zero except for the pivot element which is 1
        for (uint j = 0; j < n; ++j)
            if (j != pivot_col)
            {
                float element = ioA(j, pivot_col);
                for (uint k = 0; k < n; ++k)
                    ioA(j, k) -= ioA(pivot_col, k) * element;
                for (uint k = 0; k < m; ++k)
                    ioB(j, k) -= ioB(pivot_col, k) * element;
                ioA(j, pivot_col) = 0.0f;
            }
    }
 
    // Success
    return true;
}
 
JPH_NAMESPACE_END