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Viewing changes to intern/iksolver/intern/IK_QJacobian.cpp

  • Committer: Package Import Robot
  • Author(s): Matteo F. Vescovi
  • Date: 2012-07-23 08:54:18 UTC
  • mfrom: (14.2.16 sid)
  • mto: (14.2.19 sid)
  • mto: This revision was merged to the branch mainline in revision 42.
  • Revision ID: package-import@ubuntu.com-20120723085418-9foz30v6afaf5ffs
Tags: 2.63a-2
http://bugs.debian.org/658075
* debian/: Cycles support added (Closes: #658075)
  For now, this top feature has been enabled only
  on [any-amd64 any-i386] architectures because
  of OpenImageIO failing on all others
* debian/: scripts installation path changed
  from /usr/lib to /usr/share:
  + debian/patches/: patchset re-worked for path changing
  + debian/control: "Breaks" field added on yafaray-exporter

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intern/iksolver/intern/IK_QJacobian.cpp
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/**
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 * $Id: IK_QJacobian.cpp 26841 2010-02-12 13:34:04Z campbellbarton $
 
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/*
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 * ***** BEGIN GPL LICENSE BLOCK *****
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 *
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 * This program is free software; you can redistribute it and/or
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 * ***** END GPL LICENSE BLOCK *****
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 */
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/** \file iksolver/intern/IK_QJacobian.cpp
 
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 *  \ingroup iksolver
 
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 */
 
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#include "IK_QJacobian.h"
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#include "TNT/svd.h"
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        m_d_theta.newsize(dof);
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        m_d_theta_tmp.newsize(dof);
 
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        m_d_norm_weight.newsize(dof);
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        m_norm.newsize(dof);
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        m_norm = 0.0;
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        m_beta[id+2] = v.z();
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}
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void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v)
 
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void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight)
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{
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        m_jacobian[id][dof_id] = v.x()*m_weight_sqrt[dof_id];
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        m_jacobian[id+1][dof_id] = v.y()*m_weight_sqrt[dof_id];
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        m_jacobian[id+2][dof_id] = v.z()*m_weight_sqrt[dof_id];
 
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        m_d_norm_weight[dof_id] = norm_weight;
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}
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void IK_QJacobian::Invert()
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        MT_Scalar mx = 0.0, dtheta_abs;
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        for (i = 0; i < m_d_theta.size(); i++) {
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                dtheta_abs = MT_abs(m_d_theta[i]);
 
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                dtheta_abs = MT_abs(m_d_theta[i]*m_d_norm_weight[i]);
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                if (dtheta_abs > mx)
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                        mx = dtheta_abs;
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        }