if (task_size >= dof) {
m_transpose = false;
+ m_jacobian_tmp.newsize(task_size, dof);
+
m_svd_u.newsize(task_size, dof);
m_svd_v.newsize(dof, dof);
m_svd_w.newsize(dof);
// as the original, and often allows using smaller matrices.
m_transpose = true;
- m_jacobian_t.newsize(dof, task_size);
+ m_jacobian_tmp.newsize(dof, task_size);
m_svd_u.newsize(task_size, task_size);
m_svd_v.newsize(dof, task_size);
m_beta[id] = v.x();
m_beta[id+1] = v.y();
m_beta[id+2] = v.z();
-
- //printf("#: %f %f %f\n", v.x(), v.y(), v.z());
}
void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v)
m_jacobian[id][dof_id] = v.x()*m_weight_sqrt[dof_id];
m_jacobian[id+1][dof_id] = v.y()*m_weight_sqrt[dof_id];
m_jacobian[id+2][dof_id] = v.z()*m_weight_sqrt[dof_id];
-
- //printf("%d: %f %f %f\n", dof_id, v.x(), v.y(), v.z());
}
void IK_QJacobian::Invert()
if (m_transpose) {
// SVD will decompose Jt into V*W*Ut with U,V orthogonal and W diagonal,
// so J = U*W*Vt and Jinv = V*Winv*Ut
- TNT::transpose(m_jacobian, m_jacobian_t);
- TNT::SVD(m_jacobian_t, m_svd_v, m_svd_w, m_svd_u, m_work1, m_work2);
+ TNT::transpose(m_jacobian, m_jacobian_tmp);
+ TNT::SVD(m_jacobian_tmp, m_svd_v, m_svd_w, m_svd_u, m_work1, m_work2);
}
else {
// SVD will decompose J into U*W*Vt with U,V orthogonal and W diagonal,
// so Jinv = V*Winv*Ut
- TNT::SVD(m_jacobian, m_svd_u, m_svd_w, m_svd_v, m_work1, m_work2);
+ m_jacobian_tmp = m_jacobian;
+ TNT::SVD(m_jacobian_tmp, m_svd_u, m_svd_w, m_svd_v, m_work1, m_work2);
}
if (m_sdls)
uiDefButF(block, NUM, B_ARM_RECALCDATA, "Stiff X:", bx-10, by-80, 114, 19, &pchan->stiffness[0], 0.0, 0.99, 1.0, 0.0, "Resistance to bending for X axis");
uiDefButBitS(block, TOG, BONE_IK_XLIMIT, B_ARM_RECALCDATA, "Limit X", bx-10,by-100,114,19, &pchan->ikflag, 0.0, 0.0, 0.0, 0.0, "Limit rotation over X axis");
if ((pchan->ikflag & BONE_IK_XLIMIT)) {
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min X:", bx-10, by-120, 114, 19, &pchan->limitmin[0], -180.0f, 180.0f, 10.0f, 0.0f, "Minimum X limit");
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max X:", bx-10, by-140, 114, 19, &pchan->limitmax[0], -180.0f, 180.0f, 10.0f, 0.0f, "Maximum X limit");
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min X:", bx-10, by-120, 114, 19, &pchan->limitmin[0], -180.0f, pchan->limitmax[0], 10.0f, 0.0f, "Minimum X limit");
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max X:", bx-10, by-140, 114, 19, &pchan->limitmax[0], pchan->limitmin[0], 180.0f, 10.0f, 0.0f, "Maximum X limit");
zerolimit = 0;
}
zerodof = 0;
uiDefButF(block, NUM, B_ARM_RECALCDATA, "Stiff Y:", bx+104, by-80, 114, 19, &pchan->stiffness[1], 0.0, 0.99, 1.0, 0.0, "Resistance to bending for Y axis");
uiDefButBitS(block, TOG, BONE_IK_YLIMIT, B_ARM_RECALCDATA, "Limit Y", bx+104,by-100,113,19, &pchan->ikflag, 0.0, 0.0, 0.0, 0.0, "Limit rotation over Y axis");
if ((pchan->ikflag & BONE_IK_YLIMIT)) {
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min Y:", bx+104, by-120, 113, 19, &pchan->limitmin[1], -180.0f, 180.0f, 10.0f, 0.0f, "Minimum Y limit");
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max Y:", bx+104, by-140, 113, 19, &pchan->limitmax[1], -180.0f, 180.0f, 10.0f, 0.0f, "Maximum Y limit");
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min Y:", bx+104, by-120, 113, 19, &pchan->limitmin[1], -180.0f, pchan->limitmax[1], 10.0f, 0.0f, "Minimum Y limit");
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max Y:", bx+104, by-140, 113, 19, &pchan->limitmax[1], pchan->limitmax[1], 180.0f, 10.0f, 0.0f, "Maximum Y limit");
zerolimit = 0;
}
zerodof = 0;
uiDefButBitS(block, TOG, BONE_IK_NO_ZDOF, B_ARM_RECALCDATA, "Lock Z Rot", bx+217,by-60,113,19, &pchan->ikflag, 0.0, 0.0, 0.0, 0.0, "Disable Z DoF for IK");
if ((pchan->ikflag & BONE_IK_NO_ZDOF)==0) {
uiDefButF(block, NUM, B_ARM_RECALCDATA, "Stiff Z:", bx+217, by-80, 114, 19, &pchan->stiffness[2], 0.0, 0.99, 1.0, 0.0, "Resistance to bending for Z axis");
- uiDefButBitS(block, TOG, BONE_IK_ZLIMIT, B_ARM_RECALCDATA, "Limit Z", bx+217,by-100,113,19, &pchan->flag, 0.0, 0.0, 0.0, 0.0, "Limit rotation over Z axis");
- if ((pchan->flag & BONE_IK_ZLIMIT)) {
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min Z:", bx+217, by-120, 113, 19, &pchan->limitmin[2], -180.0f, 180.0f, 10.0f, 0.0f, "Minimum Z limit");
- uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max Z:", bx+217, by-140, 113, 19, &pchan->limitmax[2], -180.0f, 180.0f, 10.0f, 0.0f, "Maximum Z limit");
+ uiDefButBitS(block, TOG, BONE_IK_ZLIMIT, B_ARM_RECALCDATA, "Limit Z", bx+217,by-100,113,19, &pchan->ikflag, 0.0, 0.0, 0.0, 0.0, "Limit rotation over Z axis");
+ if ((pchan->ikflag & BONE_IK_ZLIMIT)) {
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Min Z:", bx+217, by-120, 113, 19, &pchan->limitmin[2], -180.0f, pchan->limitmax[2], 10.0f, 0.0f, "Minimum Z limit");
+ uiDefButF(block, NUM, B_ARM_RECALCDATA, "Max Z:", bx+217, by-140, 113, 19, &pchan->limitmax[2], pchan->limitmin[2], 180.0f, 10.0f, 0.0f, "Maximum Z limit");
zerolimit = 0;
}
zerodof = 0;