diff options
author | Mitchell Stokes <mogurijin@gmail.com> | 2011-07-29 10:32:30 +0400 |
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committer | Mitchell Stokes <mogurijin@gmail.com> | 2011-07-29 10:32:30 +0400 |
commit | b46d8955509e805f06b76a6fd800ecb4edee113b (patch) | |
tree | 7ed0b1a3b5d04ab48d3e9062ff02ce54961ecb06 /intern/iksolver/intern/IK_QTask.cpp | |
parent | 6960127d2609620d52620539388ada5cb466bab2 (diff) | |
parent | 26589497529ca3c8da85391d4976d286a371e258 (diff) |
Merging r36529-38806bge_components
Diffstat (limited to 'intern/iksolver/intern/IK_QTask.cpp')
-rw-r--r-- | intern/iksolver/intern/IK_QTask.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/intern/iksolver/intern/IK_QTask.cpp b/intern/iksolver/intern/IK_QTask.cpp index 32ecb833899..32143518533 100644 --- a/intern/iksolver/intern/IK_QTask.cpp +++ b/intern/iksolver/intern/IK_QTask.cpp @@ -95,10 +95,10 @@ void IK_QPositionTask::ComputeJacobian(IK_QJacobian& jacobian) 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 @@ void IK_QOrientationTask::ComputeJacobian(IK_QJacobian& jacobian) 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 @@ void IK_QCenterOfMassTask::JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& c 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); } } |