svn merge ^/trunk/blender -r41230:41266
[blender.git] / intern / itasc / Scene.cpp
index 16f8551..9b8c5e5 100644 (file)
@@ -356,7 +356,7 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
                                        m_Uf.col(i).setConstant(0.0);
                                else
                                        m_Uf.col(i)*=(1/m_Sf(i));
-                       project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose();
+                       project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy();
 
                        //Get the robotjacobian associated with this constraintset
                        //Each jacobian is expressed in robot base frame => convert to world reference
@@ -410,11 +410,11 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
                }
 
            //Calculate A
-               m_Atemp.noalias()=m_Cf*m_Jf_inv;
-               m_A.noalias() = m_Cq-(m_Atemp*m_Jq);
+               m_Atemp=(m_Cf*m_Jf_inv).lazy();
+               m_A = m_Cq-(m_Atemp*m_Jq).lazy();
                if (m_nuTotal > 0) {
-                       m_B.noalias()=m_Atemp*m_Ju;
-                       m_ydot.noalias() += m_B*m_xdot;
+                       m_B=(m_Atemp*m_Ju).lazy();
+                       m_ydot += (m_B*m_xdot).lazy();
                }
 
                //Call the solver with A, Wq, Wy, ydot to solver qdot:
@@ -435,13 +435,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
                        //Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
                        e_vector6 external_vel = e_zero_vector(6);
                        if (ob1->jointrange.count > 0)
-                               external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange));
+                               external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy();
                        if (ob2->jointrange.count > 0)
-                               external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange));
+                               external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy();
                        if (ob1->coordinaterange.count > 0)
-                               external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange));
+                               external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy();
                        if (ob2->coordinaterange.count > 0)
-                               external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange));
+                               external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy();
                        //the twist caused by the constraint must be opposite because of the closed loop
                        //estimate the velocity of the joints using the inverse jacobian
                        e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);