diff options
Diffstat (limited to 'intern/iksolver/intern/IK_QJacobianSolver.h')
| -rw-r--r-- | intern/iksolver/intern/IK_QJacobianSolver.h | 28 |
1 files changed, 11 insertions, 17 deletions
diff --git a/intern/iksolver/intern/IK_QJacobianSolver.h b/intern/iksolver/intern/IK_QJacobianSolver.h index 646f952b9ff..545ef91c710 100644 --- a/intern/iksolver/intern/IK_QJacobianSolver.h +++ b/intern/iksolver/intern/IK_QJacobianSolver.h @@ -30,10 +30,7 @@ * \ingroup iksolver */ - -#ifndef __IK_QJACOBIANSOLVER_H__ - -#define __IK_QJACOBIANSOLVER_H__ +#pragma once /** * @author Laurence Bourn @@ -43,8 +40,7 @@ #include <vector> #include <list> -#include "MT_Vector3.h" -#include "MT_Transform.h" +#include "IK_Math.h" #include "IK_QJacobian.h" #include "IK_QSegment.h" #include "IK_QTask.h" @@ -56,8 +52,8 @@ public: ~IK_QJacobianSolver() {} // setup pole vector constraint - void SetPoleVectorConstraint(IK_QSegment *tip, MT_Vector3& goal, - MT_Vector3& polegoal, float poleangle, bool getangle); + void SetPoleVectorConstraint(IK_QSegment *tip, Vector3d& goal, + Vector3d& polegoal, float poleangle, bool getangle); float GetPoleAngle() { return m_poleangle; } // call setup once before solving, if it fails don't solve @@ -67,17 +63,17 @@ public: bool Solve( IK_QSegment *root, std::list<IK_QTask*> tasks, - const MT_Scalar tolerance, + const double tolerance, const int max_iterations ); private: void AddSegmentList(IK_QSegment *seg); - bool UpdateAngles(MT_Scalar& norm); + bool UpdateAngles(double& norm); void ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask*>& tasks); - MT_Scalar ComputeScale(); - void Scale(MT_Scalar scale, std::list<IK_QTask*>& tasks); + double ComputeScale(); + void Scale(double scale, std::list<IK_QTask*>& tasks); private: @@ -88,15 +84,13 @@ private: std::vector<IK_QSegment*> m_segments; - MT_Transform m_rootmatrix; + Affine3d m_rootmatrix; bool m_poleconstraint; bool m_getpoleangle; - MT_Vector3 m_goal; - MT_Vector3 m_polegoal; + Vector3d m_goal; + Vector3d m_polegoal; float m_poleangle; IK_QSegment *m_poletip; }; -#endif - |