diff options
-rw-r--r-- | intern/itasc/Armature.cpp | 14 | ||||
-rw-r--r-- | intern/itasc/Cache.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/ConstraintSet.cpp | 8 | ||||
-rw-r--r-- | intern/itasc/CopyPose.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/WSDLSSolver.hpp | 2 | ||||
-rw-r--r-- | intern/itasc/kdl/jacobian.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/kdl/treefksolverpos_recursive.cpp | 1 | ||||
-rw-r--r-- | source/blender/ikplugin/intern/ikplugin_api.c | 2 | ||||
-rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 29 |
9 files changed, 30 insertions, 38 deletions
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp index 6ae60089cd8..7776b6aa3b6 100644 --- a/intern/itasc/Armature.cpp +++ b/intern/itasc/Armature.cpp @@ -8,9 +8,7 @@ #include "Armature.hpp" #include <algorithm> #include <string.h> -#ifndef __STDC__ -#include <malloc.h> -#endif +#include <stdlib.h> namespace iTaSC { @@ -37,9 +35,9 @@ Armature::Armature(): m_newqKdl(), m_qdotKdl(), m_jac(NULL), + m_armlength(0.0), m_jacsolver(NULL), - m_fksolver(NULL), - m_armlength(0.0) + m_fksolver(NULL) { } @@ -119,6 +117,8 @@ Armature::JointConstraint_struct::JointConstraint_struct(SegmentMap::const_itera values[1].id = value[1].id = ID_JOINT_RZ; v_nr = 2; break; + case Joint::None: + break; } } @@ -734,6 +734,8 @@ bool Armature::setControlParameter(unsigned int constraintId, unsigned int value case ACT_ALPHA: pConstraint->values[i].alpha = value; break; + default: + break; } } } else { @@ -755,6 +757,8 @@ bool Armature::setControlParameter(unsigned int constraintId, unsigned int value case ACT_ALPHA: pConstraint->values[i].alpha = value; break; + case ACT_NONE: + break; } } } diff --git a/intern/itasc/Cache.cpp b/intern/itasc/Cache.cpp index d61e5a9eab5..ccd9cef4655 100644 --- a/intern/itasc/Cache.cpp +++ b/intern/itasc/Cache.cpp @@ -7,9 +7,7 @@ #include <string.h> #include <assert.h> #include <math.h> -#ifndef __STDC__ -#include <malloc.h> -#endif +#include <stdlib.h> #include "Cache.hpp" namespace iTaSC { diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp index eaffc2a52f9..a38db445ea2 100644 --- a/intern/itasc/ConstraintSet.cpp +++ b/intern/itasc/ConstraintSet.cpp @@ -12,13 +12,13 @@ namespace iTaSC { ConstraintSet::ConstraintSet(unsigned int _nc,double accuracy,unsigned int maximum_iterations): m_nc(_nc), - m_Jf(e_identity_matrix(6,6)), m_Cf(e_zero_matrix(m_nc,6)), - m_U(e_identity_matrix(6,6)),m_V(e_identity_matrix(6,6)),m_B(e_zero_matrix(6,6)), - m_Jf_inv(e_zero_matrix(6,6)), m_Wy(e_scalar_vector(m_nc,1.0)), - m_chi(e_zero_vector(6)),m_y(m_nc),m_ydot(e_zero_vector(m_nc)), + m_y(m_nc),m_ydot(e_zero_vector(m_nc)),m_chi(e_zero_vector(6)), m_S(6),m_temp(6),m_tdelta(6), + m_Jf(e_identity_matrix(6,6)), + m_U(e_identity_matrix(6,6)),m_V(e_identity_matrix(6,6)),m_B(e_zero_matrix(6,6)), + m_Jf_inv(e_zero_matrix(6,6)), m_internalPose(F_identity), m_externalPose(F_identity), m_constraintCallback(NULL), m_constraintParam(NULL), m_toggle(false),m_substep(false), diff --git a/intern/itasc/CopyPose.cpp b/intern/itasc/CopyPose.cpp index 7977089d280..69722909ed1 100644 --- a/intern/itasc/CopyPose.cpp +++ b/intern/itasc/CopyPose.cpp @@ -21,7 +21,7 @@ CopyPose::CopyPose(unsigned int control_output, unsigned int dynamic_output, dou { m_maxerror = armlength/2.0; m_outputControl = (control_output & CTL_ALL); - int _nc = nBitsOn(m_outputControl); + unsigned int _nc = nBitsOn(m_outputControl); if (!_nc) return; // reset the constraint set @@ -284,7 +284,7 @@ void CopyPose::updateJacobian() void CopyPose::updateState(ConstraintValues* _values, ControlState* _state, unsigned int mask, double timestep) { - int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX; + unsigned int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX; ControlState::ControlValue* _yval; ConstraintSingleValue* _data; int i, j, k; diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp index 90f89f4e853..1341cf2af66 100644 --- a/intern/itasc/WSDLSSolver.hpp +++ b/intern/itasc/WSDLSSolver.hpp @@ -31,6 +31,8 @@ public: case DLS_QMAX: m_qmax = value; break; + default: + break; } } }; diff --git a/intern/itasc/kdl/jacobian.cpp b/intern/itasc/kdl/jacobian.cpp index 4166a341fe7..f8f46b32619 100644 --- a/intern/itasc/kdl/jacobian.cpp +++ b/intern/itasc/kdl/jacobian.cpp @@ -55,13 +55,13 @@ namespace KDL double Jacobian::operator()(int i,int j)const { - assert(i<6*nr_blocks&&j<size); + assert(i<6*(int)nr_blocks&&j<(int)size); return twists[j+6*(int)(floor((double)i/6))](i%6); } double& Jacobian::operator()(int i,int j) { - assert(i<6*nr_blocks&&j<size); + assert(i<6*(int)nr_blocks&&j<(int)size); return twists[j+6*(int)(floor((double)i/6))](i%6); } diff --git a/intern/itasc/kdl/treefksolverpos_recursive.cpp b/intern/itasc/kdl/treefksolverpos_recursive.cpp index 8c54906dcf4..f9dcb336d5d 100644 --- a/intern/itasc/kdl/treefksolverpos_recursive.cpp +++ b/intern/itasc/kdl/treefksolverpos_recursive.cpp @@ -42,7 +42,6 @@ namespace KDL { else if(baseit == tree.getSegments().end()) //if the base segment name is not found return -3; else{ - const TreeElement& currentElement = it->second; p_out = recursiveFk(q_in, it, baseit); return 0; } diff --git a/source/blender/ikplugin/intern/ikplugin_api.c b/source/blender/ikplugin/intern/ikplugin_api.c index 714843fc5e5..f106302dbaf 100644 --- a/source/blender/ikplugin/intern/ikplugin_api.c +++ b/source/blender/ikplugin/intern/ikplugin_api.c @@ -72,8 +72,6 @@ static IKPlugin ikplugin_tab[BIK_SOLVER_COUNT] = { static IKPlugin *get_plugin(bPose *pose) { - IKPlugin *plugin; - if (!pose || pose->iksolver < 0 || pose->iksolver >= BIK_SOLVER_COUNT) return NULL; diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index b6278e40ea5..4aebda1347c 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -354,7 +354,7 @@ static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *co static bool is_cartesian_constraint(bConstraint *con) { - bKinematicConstraint* data=(bKinematicConstraint*)con->data; + //bKinematicConstraint* data=(bKinematicConstraint*)con->data; return true; } @@ -379,12 +379,8 @@ static bool constraint_valid(bConstraint *con) int initialize_scene(Object *ob, bPoseChannel *pchan_tip) { - bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256], **oldchan; - PoseTree *tree; - PoseTarget *target; bConstraint *con; - bKinematicConstraint *data; - int a, segcount= 0, size, newsize, *oldparent, parent, rootbone, treecount; + int treecount; /* find all IK constraints and validate them */ treecount = 0; @@ -456,6 +452,7 @@ static void RemoveEulerAngleFromMatrix(KDL::Rotation& R, double angle, int axis) R = R*T; } +#if 0 static void GetEulerXZY(const KDL::Rotation& R, double& X,double& Z,double& Y) { if (fabs(R(0,1)) > 1.0 - KDL::epsilon ) { @@ -481,6 +478,7 @@ static void GetEulerXYZ(const KDL::Rotation& R, double& X,double& Y,double& Z) Z = KDL::atan2(-R(0,1), R(0,0)); } } +#endif static void GetJointRotation(KDL::Rotation& boneRot, int type, double* rot) { @@ -660,9 +658,6 @@ static bool copypose_callback(const iTaSC::Timestamp& timestamp, iTaSC::Constrai bKinematicConstraint *condata = (bKinematicConstraint *)iktarget->blenderConstraint->data; iTaSC::ConstraintValues* values = _values; bItasc* ikparam = (bItasc*) iktarget->owner->pose->ikparam; - iTaSC::ConstraintSingleValue* value; - double error; - int i; // we need default parameters if (!ikparam) @@ -839,7 +834,7 @@ static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintV break; } if (dof >= 0) { - for (int i=0; i<_nvalues; i++, dof++) { + for (unsigned int i=0; i<_nvalues; i++, dof++) { _values[i].values[0].yd = ikchan->jointValue[dof]; _values[i].alpha = chan->ikrotweight; _values[i].feedback = ikparam->feedback; @@ -853,7 +848,6 @@ static int convert_channels(IK_Scene *ikscene, PoseTree *tree) { IK_Channel *ikchan; bPoseChannel *pchan; - PoseTarget* target; Bone *bone; int a, flag, njoint; @@ -1046,11 +1040,11 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) KDL::Frame initPose; KDL::Rotation boneRot; Bone *bone; - int a, t, numtarget; + int a, numtarget; + unsigned int t; float length; bool ret = true, ingame; double *rot; - double lmin[3], lmax[3]; if (tree->totchannel == 0) return NULL; @@ -1105,7 +1099,6 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) double weight[3]; // assume uniform scaling and take Y scale as general scale for the armature float scale = VecLength(ob->obmat[1]); - double X, Y, Z; // build the array of joints corresponding to the IK chain convert_channels(ikscene, tree); if (ingame) { @@ -1366,8 +1359,8 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) } // set the weight e_matrix& Wq = arm->getWq(); - assert(Wq.cols() == weights.size()); - for (unsigned int q=0; q<Wq.cols(); q++) + assert(Wq.cols() == (int)weights.size()); + for (int q=0; q<Wq.cols(); q++) Wq(q,q)=weights[q]; // get the inverse rest pose frame of the base to compute relative rest pose of end effectors // this is needed to handle the enforce parameter @@ -1492,8 +1485,6 @@ static void create_scene(Scene *scene, Object *ob) static void init_scene(Object *ob) { - bPoseChannel *pchan; - if (ob->pose->ikdata) { for(IK_Scene* scene = ((IK_Data*)ob->pose->ikdata)->first; scene != NULL; @@ -1559,7 +1550,7 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl } if (ikscene->cache && !reiterate && simulation) { - iTaSC::CacheTS sts, cts, dts; + iTaSC::CacheTS sts, cts; sts = cts = (iTaSC::CacheTS)(timestamp*1000.0+0.5); if (ikscene->cache->getPreviousCacheItem(ikscene->armature, 0, &cts) == NULL || cts == 0) { // the cache is empty before this time, reiterate |