diff options
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); } } |