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<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009>Hi,</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>The new IK
algorithms developed at the KUL use the uBLAS template library from boost for
matrix definition and operation.</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>In order to minimize
code change when porting to Blender, I am asking if it would be acceptable
to add that library in blender/extern.</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>It is a template
library, so it will not increase the size of the executable more than necessary.
</SPAN></FONT><FONT face=Arial size=2><SPAN class=343385320-23012009>It allows
high level abstraction and yet it is almost as fast as an add-hoc C
implementation because it uses the advanced technique of template
expressions. The drawback is that it requires a modern C compiler: gcc 3.2.3 and
above, MSVC 7.1 and above, ICC 8.0 and above (older compiler are supported with
an earlier version of the library). I guess this is not a limiting
factor?</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>In terms of number
of files, I extracted a subset of boost that contains all the necessary
files to compile uBLAS: 10Mb in 1650 files. </SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>The alternative is
to implement add-hoc C functions or reuse the TNT template library that
is used by IK_Solver (intern/iksolver/intern/TNT). This library is
much smaller and provide similar functionality but it is not as
fast.</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV>
<DIV><FONT face=Arial size=2><SPAN class=343385320-23012009>For the interested
ones, I've started a wiki on the IK project: <A
href="http://wiki.blender.org/index.php/GameEngineDev/RobotIKSolver">http://wiki.blender.org/index.php/GameEngineDev/RobotIKSolver</A></SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009>/benoit</SPAN></FONT></DIV>
<DIV><FONT face=Arial size=2><SPAN
class=343385320-23012009></SPAN></FONT> </DIV></BODY></HTML>