[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [49312] trunk/blender/intern/iksolver/ intern: style cleanup
Campbell Barton
ideasman42 at gmail.com
Sat Jul 28 00:35:31 CEST 2012
Revision: 49312
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=49312
Author: campbellbarton
Date: 2012-07-27 22:35:27 +0000 (Fri, 27 Jul 2012)
Log Message:
-----------
style cleanup
Modified Paths:
--------------
trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp
trunk/blender/intern/iksolver/intern/IK_QJacobianSolver.cpp
trunk/blender/intern/iksolver/intern/IK_QSegment.cpp
trunk/blender/intern/iksolver/intern/IK_QTask.cpp
trunk/blender/intern/iksolver/intern/IK_Solver.cpp
trunk/blender/intern/iksolver/intern/MT_ExpMap.cpp
Modified: trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp
===================================================================
--- trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp 2012-07-27 22:27:06 UTC (rev 49311)
+++ trunk/blender/intern/iksolver/intern/IK_QJacobian.cpp 2012-07-27 22:35:27 UTC (rev 49312)
@@ -35,7 +35,7 @@
#include "TNT/svd.h"
IK_QJacobian::IK_QJacobian()
-: m_sdls(true), m_min_damp(1.0)
+ : m_sdls(true), m_min_damp(1.0)
{
}
@@ -106,16 +106,16 @@
void IK_QJacobian::SetBetas(int id, int, const MT_Vector3& v)
{
- m_beta[id] = v.x();
- m_beta[id+1] = v.y();
- m_beta[id+2] = v.z();
+ m_beta[id + 0] = v.x();
+ m_beta[id + 1] = v.y();
+ m_beta[id + 2] = v.z();
}
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_jacobian[id + 0][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;
}
@@ -194,7 +194,7 @@
// doesn't work well at all
int i;
for (i = 0; i < m_d_theta.size(); i++)
- m_d_theta[i] = m_d_theta[i] + /*m_min_damp**/jacobian.AngleUpdate(i);
+ m_d_theta[i] = m_d_theta[i] + /*m_min_damp * */ jacobian.AngleUpdate(i);
}
void IK_QJacobian::Restrict(TVector& d_theta, TMatrix& null)
@@ -230,7 +230,7 @@
// DLS. The SDLS damps individual singular values, instead of using a single
// damping term.
- MT_Scalar max_angle_change = MT_PI/4.0;
+ MT_Scalar max_angle_change = MT_PI / 4.0;
MT_Scalar epsilon = 1e-10;
int i, j;
@@ -239,35 +239,35 @@
for (i = 0; i < m_dof; i++) {
m_norm[i] = 0.0;
- for (j = 0; j < m_task_size; j+=3) {
+ for (j = 0; j < m_task_size; j += 3) {
MT_Scalar n = 0.0;
- n += m_jacobian[j][i]*m_jacobian[j][i];
- n += m_jacobian[j+1][i]*m_jacobian[j+1][i];
- n += m_jacobian[j+2][i]*m_jacobian[j+2][i];
+ n += m_jacobian[j][i] * m_jacobian[j][i];
+ n += m_jacobian[j + 1][i] * m_jacobian[j + 1][i];
+ n += m_jacobian[j + 2][i] * m_jacobian[j + 2][i];
m_norm[i] += sqrt(n);
}
}
- for (i = 0; i<m_svd_w.size(); i++) {
+ for (i = 0; i < m_svd_w.size(); i++) {
if (m_svd_w[i] <= epsilon)
continue;
- MT_Scalar wInv = 1.0/m_svd_w[i];
+ MT_Scalar wInv = 1.0 / m_svd_w[i];
MT_Scalar alpha = 0.0;
MT_Scalar N = 0.0;
// compute alpha and N
- for (j=0; j<m_svd_u.num_rows(); j+=3) {
- alpha += m_svd_u[j][i]*m_beta[j];
- alpha += m_svd_u[j+1][i]*m_beta[j+1];
- alpha += m_svd_u[j+2][i]*m_beta[j+2];
+ for (j = 0; j < m_svd_u.num_rows(); j += 3) {
+ alpha += m_svd_u[j][i] * m_beta[j];
+ alpha += m_svd_u[j + 1][i] * m_beta[j + 1];
+ alpha += m_svd_u[j + 2][i] * m_beta[j + 2];
// note: for 1 end effector, N will always be 1, since U is
// orthogonal, .. so could be optimized
MT_Scalar tmp;
- tmp = m_svd_u[j][i]*m_svd_u[j][i];
- tmp += m_svd_u[j+1][i]*m_svd_u[j+1][i];
- tmp += m_svd_u[j+2][i]*m_svd_u[j+2][i];
+ tmp = m_svd_u[j][i] * m_svd_u[j][i];
+ tmp += m_svd_u[j + 1][i] * m_svd_u[j + 1][i];
+ tmp += m_svd_u[j + 2][i] * m_svd_u[j + 2][i];
N += sqrt(tmp);
}
alpha *= wInv;
@@ -278,14 +278,14 @@
for (j = 0; j < m_d_theta.size(); j++) {
MT_Scalar v = m_svd_v[j][i];
- M += MT_abs(v)*m_norm[j];
+ M += MT_abs(v) * m_norm[j];
// compute tmporary dTheta's
- m_d_theta_tmp[j] = v*alpha;
+ m_d_theta_tmp[j] = v * alpha;
// find largest absolute dTheta
// multiply with weight to prevent unnecessary damping
- abs_dtheta = MT_abs(m_d_theta_tmp[j])*m_weight_sqrt[j];
+ abs_dtheta = MT_abs(m_d_theta_tmp[j]) * m_weight_sqrt[j];
if (abs_dtheta > max_dtheta)
max_dtheta = abs_dtheta;
}
@@ -295,19 +295,19 @@
// compute damping term and damp the dTheta's
MT_Scalar gamma = max_angle_change;
if (N < M)
- gamma *= N/M;
+ gamma *= N / M;
- MT_Scalar damp = (gamma < max_dtheta)? gamma/max_dtheta: 1.0;
+ MT_Scalar damp = (gamma < max_dtheta) ? gamma / max_dtheta : 1.0;
for (j = 0; j < m_d_theta.size(); j++) {
// slight hack: we do 0.80*, so that if there is some oscillation,
// the system can still converge (for joint limits). also, it's
// better to go a little to slow than to far
- MT_Scalar dofdamp = damp/m_weight[j];
+ MT_Scalar dofdamp = damp / m_weight[j];
if (dofdamp > 1.0) dofdamp = 1.0;
- m_d_theta[j] += 0.80*dofdamp*m_d_theta_tmp[j];
+ m_d_theta[j] += 0.80 * dofdamp * m_d_theta_tmp[j];
}
if (damp < m_min_damp)
@@ -317,7 +317,7 @@
// weight + prevent from doing angle updates with angles > max_angle_change
MT_Scalar max_angle = 0.0, abs_angle;
- for (j = 0; j<m_dof; j++) {
+ for (j = 0; j < m_dof; j++) {
m_d_theta[j] *= m_weight[j];
abs_angle = MT_abs(m_d_theta[j]);
@@ -327,9 +327,9 @@
}
if (max_angle > max_angle_change) {
- MT_Scalar damp = (max_angle_change)/(max_angle_change + max_angle);
+ MT_Scalar damp = (max_angle_change) / (max_angle_change + max_angle);
- for (j = 0; j<m_dof; j++)
+ for (j = 0; j < m_dof; j++)
m_d_theta[j] *= damp;
}
}
@@ -360,20 +360,20 @@
int i, j;
MT_Scalar w_min = MT_INFINITY;
- for (i = 0; i <m_svd_w.size() ; i++) {
+ for (i = 0; i < m_svd_w.size(); i++) {
if (m_svd_w[i] > epsilon && m_svd_w[i] < w_min)
w_min = m_svd_w[i];
}
// compute lambda damping term
- MT_Scalar d = x_length/max_angle_change;
+ MT_Scalar d = x_length / max_angle_change;
MT_Scalar lambda;
- if (w_min <= d/2)
- lambda = d/2;
+ if (w_min <= d / 2)
+ lambda = d / 2;
else if (w_min < d)
- lambda = sqrt(w_min*(d - w_min));
+ lambda = sqrt(w_min * (d - w_min));
else
lambda = 0.0;
@@ -393,17 +393,17 @@
for (i = 0; i < m_svd_w.size(); i++) {
if (m_svd_w[i] > epsilon) {
- MT_Scalar wInv = m_svd_w[i]/(m_svd_w[i]*m_svd_w[i] + lambda);
+ MT_Scalar wInv = m_svd_w[i] / (m_svd_w[i] * m_svd_w[i] + lambda);
// compute V*Winv*Ut*Beta
m_svd_u_beta[i] *= wInv;
- for (j = 0; j<m_d_theta.size(); j++)
- m_d_theta[j] += m_svd_v[j][i]*m_svd_u_beta[i];
+ for (j = 0; j < m_d_theta.size(); j++)
+ m_d_theta[j] += m_svd_v[j][i] * m_svd_u_beta[i];
}
}
- for (j = 0; j<m_d_theta.size(); j++)
+ for (j = 0; j < m_d_theta.size(); j++)
m_d_theta[j] *= m_weight[j];
}
@@ -412,7 +412,7 @@
int i;
for (i = 0; i < m_task_size; i++) {
- m_beta[i] -= m_jacobian[i][dof_id]*delta;
+ m_beta[i] -= m_jacobian[i][dof_id] * delta;
m_jacobian[i][dof_id] = 0.0;
}
@@ -431,7 +431,7 @@
MT_Scalar mx = 0.0, dtheta_abs;
for (i = 0; i < m_d_theta.size(); i++) {
- dtheta_abs = MT_abs(m_d_theta[i]*m_d_norm_weight[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_QJacobianSolver.cpp
===================================================================
--- trunk/blender/intern/iksolver/intern/IK_QJacobianSolver.cpp 2012-07-27 22:27:06 UTC (rev 49311)
+++ trunk/blender/intern/iksolver/intern/IK_QJacobianSolver.cpp 2012-07-27 22:35:27 UTC (rev 49312)
@@ -45,22 +45,22 @@
MT_Scalar IK_QJacobianSolver::ComputeScale()
{
- std::vector<IK_QSegment*>::iterator seg;
+ std::vector<IK_QSegment *>::iterator seg;
MT_Scalar length = 0.0f;
for (seg = m_segments.begin(); seg != m_segments.end(); seg++)
length += (*seg)->MaxExtension();
- if(length == 0.0)
+ if (length == 0.0)
return 1.0;
else
return 1.0 / length;
}
-void IK_QJacobianSolver::Scale(MT_Scalar scale, std::list<IK_QTask*>& tasks)
+void IK_QJacobianSolver::Scale(MT_Scalar scale, std::list<IK_QTask *>& tasks)
{
- std::list<IK_QTask*>::iterator task;
- std::vector<IK_QSegment*>::iterator seg;
+ std::list<IK_QTask *>::iterator task;
+ std::vector<IK_QSegment *>::iterator seg;
for (task = tasks.begin(); task != tasks.end(); task++)
(*task)->Scale(scale);
@@ -82,13 +82,13 @@
AddSegmentList(child);
}
-bool IK_QJacobianSolver::Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks)
+bool IK_QJacobianSolver::Setup(IK_QSegment *root, std::list<IK_QTask *>& tasks)
{
m_segments.clear();
AddSegmentList(root);
// assign each segment a unique id for the jacobian
- std::vector<IK_QSegment*>::iterator seg;
+ std::vector<IK_QSegment *>::iterator seg;
int num_dof = 0;
for (seg = m_segments.begin(); seg != m_segments.end(); seg++) {
@@ -103,7 +103,7 @@
int primary_size = 0, primary = 0;
int secondary_size = 0, secondary = 0;
MT_Scalar primary_weight = 0.0, secondary_weight = 0.0;
- std::list<IK_QTask*>::iterator task;
+ std::list<IK_QTask *>::iterator task;
for (task = tasks.begin(); task != tasks.end(); task++) {
IK_QTask *qtask = *task;
@@ -128,20 +128,20 @@
m_secondary_enabled = (secondary > 0);
// rescale weights of tasks to sum up to 1
- MT_Scalar primary_rescale = 1.0/primary_weight;
+ MT_Scalar primary_rescale = 1.0 / primary_weight;
MT_Scalar secondary_rescale;
if (MT_fuzzyZero(secondary_weight))
secondary_rescale = 0.0;
else
- secondary_rescale = 1.0/secondary_weight;
+ secondary_rescale = 1.0 / secondary_weight;
for (task = tasks.begin(); task != tasks.end(); task++) {
IK_QTask *qtask = *task;
if (qtask->Primary())
- qtask->SetWeight(qtask->Weight()*primary_rescale);
+ qtask->SetWeight(qtask->Weight() * primary_rescale);
else
- qtask->SetWeight(qtask->Weight()*secondary_rescale);
+ qtask->SetWeight(qtask->Weight() * secondary_rescale);
}
// set matrix sizes
@@ -154,7 +154,7 @@
for (seg = m_segments.begin(); seg != m_segments.end(); seg++)
for (i = 0; i < (*seg)->NumberOfDoF(); i++)
- m_jacobian.SetDoFWeight((*seg)->DoFId()+i, (*seg)->Weight(i));
+ m_jacobian.SetDoFWeight((*seg)->DoFId() + i, (*seg)->Weight(i));
return true;
}
@@ -165,7 +165,7 @@
m_poletip = tip;
m_goal = goal;
m_polegoal = polegoal;
- m_poleangle = (getangle)? 0.0f: poleangle;
+ m_poleangle = (getangle) ? 0.0f : poleangle;
m_getpoleangle = getangle;
}
@@ -182,7 +182,7 @@
// a sane normalize function that doesn't give (1, 0, 0) in case
// of a zero length vector, like MT_Vector3.normalize
MT_Scalar len = v.length();
- return MT_fuzzyZero(len)? MT_Vector3(0, 0, 0): v/len;
+ return MT_fuzzyZero(len) ? MT_Vector3(0, 0, 0) : v / len;
}
static float angle(const MT_Vector3& v1, const MT_Vector3& v2)
@@ -190,21 +190,21 @@
@@ Diff output truncated at 10240 characters. @@
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