[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [38232] trunk/blender/intern/iksolver/ intern: Fix #27891: IK stretch gives inaccurate results.

[Brecht Van Lommel]

Revision: 38232
          http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=38232
Author:   blendix
Date:     2011-07-08 12:18:54 +0000 (Fri, 08 Jul 2011)
Log Message:
-----------
Fix #27891: IK stretch gives inaccurate results. Tweaked translation segment
convergence weight a bit to match angles better at typical scales.

Modified Paths:
--------------
    trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp
    trunk/blender/intern/iksolver/intern/IK_QJacobian.h
    trunk/blender/intern/iksolver/intern/IK_QTask.cpp

Modified: trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp
===================================================================
--- trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp	2011-07-08 12:05:34 UTC (rev 38231)
+++ trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp	2011-07-08 12:18:54 UTC (rev 38232)
@@ -59,6 +59,7 @@
 
 	m_d_theta.newsize(dof);
 	m_d_theta_tmp.newsize(dof);
+	m_d_norm_weight.newsize(dof);
 
 	m_norm.newsize(dof);
 	m_norm = 0.0;
@@ -111,11 +112,13 @@
 	m_beta[id+2] = v.z();
 }
 
-void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v)
+void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight)
 {
 	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];
+
+	m_d_norm_weight[dof_id] = norm_weight;
 }
 
 void IK_QJacobian::Invert()
@@ -429,7 +432,7 @@
 	MT_Scalar mx = 0.0, dtheta_abs;
 
 	for (i = 0; i < m_d_theta.size(); i++) {
-		dtheta_abs = MT_abs(m_d_theta[i]);
+		dtheta_abs = MT_abs(m_d_theta[i]*m_d_norm_weight[i]);
 		if (dtheta_abs > mx)
 			mx = dtheta_abs;
 	}

Modified: trunk/blender/intern/iksolver/intern/IK_QJacobian.h
===================================================================
--- trunk/blender/intern/iksolver/intern/IK_QJacobian.h	2011-07-08 12:05:34 UTC (rev 38231)
+++ trunk/blender/intern/iksolver/intern/IK_QJacobian.h	2011-07-08 12:18:54 UTC (rev 38232)
@@ -56,7 +56,7 @@
 
 	// Iteratively called
 	void SetBetas(int id, int size, const MT_Vector3& v);
-	void SetDerivatives(int id, int dof_id, const MT_Vector3& v);
+	void SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight);
 
 	void Invert();
 
@@ -89,6 +89,7 @@
 
 	/// the vector of computed angle changes
 	TVector m_d_theta;
+	TVector m_d_norm_weight;
 
 	/// space required for SVD computation
 

Modified: trunk/blender/intern/iksolver/intern/IK_QTask.cpp
===================================================================
--- trunk/blender/intern/iksolver/intern/IK_QTask.cpp	2011-07-08 12:05:34 UTC (rev 38231)
+++ trunk/blender/intern/iksolver/intern/IK_QTask.cpp	2011-07-08 12:18:54 UTC (rev 38232)
@@ -95,10 +95,10 @@
 			MT_Vector3 axis = seg->Axis(i)*m_weight;
 
 			if (seg->Translational())
-				jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis);
+				jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis, 1e2);
 			else {
 				MT_Vector3 pa = p.cross(axis);
-				jacobian.SetDerivatives(m_id, seg->DoFId()+i, pa);
+				jacobian.SetDerivatives(m_id, seg->DoFId()+i, pa, 1e0);
 			}
 		}
 	}
@@ -147,10 +147,10 @@
 		for (i = 0; i < seg->NumberOfDoF(); i++) {
 
 			if (seg->Translational())
-				jacobian.SetDerivatives(m_id, seg->DoFId()+i, MT_Vector3(0, 0, 0));
+				jacobian.SetDerivatives(m_id, seg->DoFId()+i, MT_Vector3(0, 0, 0), 1e2);
 			else {
 				MT_Vector3 axis = seg->Axis(i)*m_weight;
-				jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis);
+				jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis, 1e0);
 			}
 		}
 }
@@ -202,10 +202,10 @@
 		axis *= /*segment->Mass()**/m_total_mass_inv;
 		
 		if (segment->Translational())
-			jacobian.SetDerivatives(m_id, segment->DoFId()+i, axis);
+			jacobian.SetDerivatives(m_id, segment->DoFId()+i, axis, 1e2);
 		else {
 			MT_Vector3 pa = axis.cross(p);
-			jacobian.SetDerivatives(m_id, segment->DoFId()+i, pa);
+			jacobian.SetDerivatives(m_id, segment->DoFId()+i, pa, 1e0);
 		}
 	}