iTaSC: implementation of spherical joint. Convergence and stability of the solver...
authorBenoit Bolsee <benoit.bolsee@online.be>
Tue, 9 Jun 2009 11:27:30 +0000 (11:27 +0000)
committerBenoit Bolsee <benoit.bolsee@online.be>
Tue, 9 Jun 2009 11:27:30 +0000 (11:27 +0000)
commit12cdc61f80c927e7e570892e918a5630a12c5f0c
tree32363158fd7f39d3845d2a39eb69a4ff6665ab0a
parentc1a7e4f20db5a9e922eadce335c2f264c47e49b8
iTaSC: implementation of spherical joint. Convergence and stability of the solver is much improved. iTaSC behaves almost fully like IK_solver, but normally faster and more consistently. Some performance tests should be done.
18 files changed:
intern/itasc/Armature.cpp
intern/itasc/Armature.hpp
intern/itasc/Scene.cpp
intern/itasc/WDLSSolver.cpp
intern/itasc/WSDLSSolver.cpp
intern/itasc/kdl/chain.cpp
intern/itasc/kdl/chainfksolverpos_recursive.cpp
intern/itasc/kdl/chainjnttojacsolver.cpp
intern/itasc/kdl/frames.hpp
intern/itasc/kdl/frames.inl
intern/itasc/kdl/joint.cpp
intern/itasc/kdl/joint.hpp
intern/itasc/kdl/segment.cpp
intern/itasc/kdl/segment.hpp
intern/itasc/kdl/tree.cpp
intern/itasc/kdl/treefksolverpos_recursive.cpp
intern/itasc/kdl/treejnttojacsolver.cpp
source/blender/ikplugin/intern/itasc_plugin.cpp