[Soc-2005-dev] Re: [Soc-2005-cvs] CVS commit: soc-blender/intern/iksolver/extern IK_solver.h soc-blender/intern/iksolver/intern IK_QJacobian.cpp IK_QJacobian.h IK_QJacobianSolver.cpp IK_QJacobianSolver.h IK_QSegment.cpp IK_QSegment.h IK_QTask.cpp IK_QTask.h IK_Solver.cpp MT_ExpMap.cpp MT_ExpMap.h Makefile ...

[Alexander Ewering]

On Sat, 27 Aug 2005, Brecht Van Lommel wrote:

> blendix (Brecht Van Lommel) 2005/08/27 01:43:15 CEST
>
>  Modified files:        (Branch: blendix)
>    soc-blender/intern/iksolver/extern IK_solver.h
>    soc-blender/intern/iksolver/intern IK_QJacobian.cpp
>                                       IK_QJacobian.h
>                                       IK_QJacobianSolver.cpp
>                                       IK_QJacobianSolver.h
>                                       IK_QSegment.cpp
>                                       IK_QSegment.h IK_QTask.cpp
>                                       IK_QTask.h IK_Solver.cpp
>                                       MT_ExpMap.cpp MT_ExpMap.h
>                                       Makefile
>    soc-blender/intern/iksolver/intern/TNT svd.h tntmath.h
>
>  Log:
>  - Fix degrees => axis-angle conversion for limits, it was slightly off.
>  - Replace the SVD decomposition algorithm in TNT (from Numerical Recipes).
>    It would fail to converge in some situations due to rounding errors. Now
>    the algorithm from the TNT/JAMA package is used, which is based on LAPACK.
>    Slightly slower, but seems to always converge.
>  - Cleaning up some debugging stuff.

I assume this fixes my "snapping back to rest position" bug? ;-)

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