[Soc-2005-cvs] CVS commit: soc-blender/intern/iksolver/intern IK_QJacobian.cpp IK_QJacobian.h IK_QJacobianSolver.cpp IK_QJacobianSolver.h IK_QSegment.cpp IK_QSegment.h IK_QSolver_Class.h IK_Solver.cpp Makefile IK_QChain.cpp IK_QChain.h soc-blender/intern/moto/include ...

[Brecht Van Lommel]

blendix (Brecht Van Lommel) 2005/07/08 23:38:43 CEST

  Modified files:        (Branch: blendix)
    soc-blender/intern/iksolver/intern IK_QJacobian.cpp 
                                       IK_QJacobian.h 
                                       IK_QJacobianSolver.cpp 
                                       IK_QJacobianSolver.h 
                                       IK_QSegment.cpp 
                                       IK_QSegment.h 
                                       IK_QSolver_Class.h 
                                       IK_Solver.cpp Makefile 
    soc-blender/intern/moto/include MT_Transform.h 
  Removed files:         (Branch: blendix)
    soc-blender/intern/iksolver/intern IK_QChain.cpp IK_QChain.h 
  
  Log:
  Implemented selectively damped least squares (SDLS) method for damping
  near singularities. The old method failed to damp properly for < 3DOF
  joints, because it would use the distance from the target position,
  which may not be a good estimate for non-3DOF joints.
  
  Reference:
  Samuel R. Buss and Jin-Su Kim.
  "Selectively Damped Least Squares for Inverse Kinematics."
  http://math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/
  
  It does not solve all issues, but at least prevents shaking near
  singularities. As an extra bonus it also improves stability and convergence
  in general, giving a nice speedup.
  
  It will be very difficult to provide exact backwards compatibility with
  the SDLS, as the solution of the numerical system may depend on very small
  details. The old method is still there to be enabled if needed.
  
  Furthermore IK_QChain has been dropped and replaced by a tree structure.
  This code is still mostly unfinished and untested, but works correctly for
  chains.
  
  Revision  Changes    Path
  1.1.2.3   +227 -81   soc-blender/intern/iksolver/intern/Attic/IK_QJacobian.cpp
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/Attic/IK_QJacobian.cpp.diff?r1=1.1.2.2&r2=1.1.2.3&cvsroot=soc-2005>
  1.1.2.3   +22 -6     soc-blender/intern/iksolver/intern/Attic/IK_QJacobian.h
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/Attic/IK_QJacobian.h.diff?r1=1.1.2.2&r2=1.1.2.3&cvsroot=soc-2005>
  1.1.1.1.2.7 +50 -85    soc-blender/intern/iksolver/intern/IK_QJacobianSolver.cpp
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_QJacobianSolver.cpp.diff?r1=1.1.1.1.2.6&r2=1.1.1.1.2.7&cvsroot=soc-2005>
  1.1.1.1.2.3 +15 -32    soc-blender/intern/iksolver/intern/IK_QJacobianSolver.h
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_QJacobianSolver.h.diff?r1=1.1.1.1.2.2&r2=1.1.1.1.2.3&cvsroot=soc-2005>
  1.1.1.1.2.4 +194 -47   soc-blender/intern/iksolver/intern/IK_QSegment.cpp
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_QSegment.cpp.diff?r1=1.1.1.1.2.3&r2=1.1.1.1.2.4&cvsroot=soc-2005>
  1.1.1.1.2.4 +90 -41    soc-blender/intern/iksolver/intern/IK_QSegment.h
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_QSegment.h.diff?r1=1.1.1.1.2.3&r2=1.1.1.1.2.4&cvsroot=soc-2005>
  1.1.1.1.2.1 +23 -39    soc-blender/intern/iksolver/intern/IK_QSolver_Class.h
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_QSolver_Class.h.diff?r1=1.1.1.1.2.0&r2=1.1.1.1.2.1&cvsroot=soc-2005>
  1.1.1.1.2.5 +63 -96    soc-blender/intern/iksolver/intern/IK_Solver.cpp
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/IK_Solver.cpp.diff?r1=1.1.1.1.2.4&r2=1.1.1.1.2.5&cvsroot=soc-2005>
  1.1.1.1.2.2 +2 -3      soc-blender/intern/iksolver/intern/Makefile
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/iksolver/intern/Makefile.diff?r1=1.1.1.1.2.1&r2=1.1.1.1.2.2&cvsroot=soc-2005>
  1.1.1.1.2.2 +7 -1      soc-blender/intern/moto/include/MT_Transform.h
    <http://projects.blender.org/viewcvs/viewcvs.cgi/soc-blender/intern/moto/include/MT_Transform.h.diff?r1=1.1.1.1.2.1&r2=1.1.1.1.2.2&cvsroot=soc-2005>