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path: root/intern/iksolver/intern/IK_QTask.cpp
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Diffstat (limited to 'intern/iksolver/intern/IK_QTask.cpp')
-rw-r--r--intern/iksolver/intern/IK_QTask.cpp80
1 files changed, 40 insertions, 40 deletions
diff --git a/intern/iksolver/intern/IK_QTask.cpp b/intern/iksolver/intern/IK_QTask.cpp
index e050bb00658..0ba716ff59d 100644
--- a/intern/iksolver/intern/IK_QTask.cpp
+++ b/intern/iksolver/intern/IK_QTask.cpp
@@ -36,11 +36,11 @@
// IK_QTask
IK_QTask::IK_QTask(
- int size,
- bool primary,
- bool active,
- const IK_QSegment *segment
-) :
+ int size,
+ bool primary,
+ bool active,
+ const IK_QSegment *segment
+ ) :
m_size(size), m_primary(primary), m_active(active), m_segment(segment),
m_weight(1.0)
{
@@ -49,10 +49,10 @@ IK_QTask::IK_QTask(
// IK_QPositionTask
IK_QPositionTask::IK_QPositionTask(
- bool primary,
- const IK_QSegment *segment,
- const MT_Vector3& goal
-) :
+ bool primary,
+ const IK_QSegment *segment,
+ const MT_Vector3& goal
+ ) :
IK_QTask(3, primary, true, segment), m_goal(goal)
{
// computing clamping length
@@ -67,7 +67,7 @@ IK_QPositionTask::IK_QPositionTask(
num++;
}
- m_clamp_length /= 2*num;
+ m_clamp_length /= 2 * num;
}
void IK_QPositionTask::ComputeJacobian(IK_QJacobian& jacobian)
@@ -79,9 +79,9 @@ void IK_QPositionTask::ComputeJacobian(IK_QJacobian& jacobian)
MT_Scalar length = d_pos.length();
if (length > m_clamp_length)
- d_pos = (m_clamp_length/length)*d_pos;
+ d_pos = (m_clamp_length / length) * d_pos;
- jacobian.SetBetas(m_id, m_size, m_weight*d_pos);
+ jacobian.SetBetas(m_id, m_size, m_weight * d_pos);
// compute derivatives
int i;
@@ -91,13 +91,13 @@ void IK_QPositionTask::ComputeJacobian(IK_QJacobian& jacobian)
MT_Vector3 p = seg->GlobalStart() - pos;
for (i = 0; i < seg->NumberOfDoF(); i++) {
- MT_Vector3 axis = seg->Axis(i)*m_weight;
+ MT_Vector3 axis = seg->Axis(i) * m_weight;
if (seg->Translational())
- jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis, 1e2);
+ jacobian.SetDerivatives(m_id, seg->DoFId() + i, axis, 1e2);
else {
MT_Vector3 pa = p.cross(axis);
- jacobian.SetDerivatives(m_id, seg->DoFId()+i, pa, 1e0);
+ jacobian.SetDerivatives(m_id, seg->DoFId() + i, pa, 1e0);
}
}
}
@@ -113,10 +113,10 @@ MT_Scalar IK_QPositionTask::Distance() const
// IK_QOrientationTask
IK_QOrientationTask::IK_QOrientationTask(
- bool primary,
- const IK_QSegment *segment,
- const MT_Matrix3x3& goal
-) :
+ bool primary,
+ const IK_QSegment *segment,
+ const MT_Matrix3x3& goal
+ ) :
IK_QTask(3, primary, true, segment), m_goal(goal), m_distance(0.0)
{
}
@@ -126,17 +126,17 @@ void IK_QOrientationTask::ComputeJacobian(IK_QJacobian& jacobian)
// compute betas
const MT_Matrix3x3& rot = m_segment->GlobalTransform().getBasis();
- MT_Matrix3x3 d_rotm = m_goal*rot.transposed();
+ MT_Matrix3x3 d_rotm = m_goal * rot.transposed();
d_rotm.transpose();
MT_Vector3 d_rot;
- d_rot = -0.5*MT_Vector3(d_rotm[2][1] - d_rotm[1][2],
- d_rotm[0][2] - d_rotm[2][0],
- d_rotm[1][0] - d_rotm[0][1]);
+ d_rot = -0.5 * MT_Vector3(d_rotm[2][1] - d_rotm[1][2],
+ d_rotm[0][2] - d_rotm[2][0],
+ d_rotm[1][0] - d_rotm[0][1]);
m_distance = d_rot.length();
- jacobian.SetBetas(m_id, m_size, m_weight*d_rot);
+ jacobian.SetBetas(m_id, m_size, m_weight * d_rot);
// compute derivatives
int i;
@@ -146,10 +146,10 @@ 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), 1e2);
+ 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, 1e0);
+ MT_Vector3 axis = seg->Axis(i) * m_weight;
+ jacobian.SetDerivatives(m_id, seg->DoFId() + i, axis, 1e0);
}
}
}
@@ -158,15 +158,15 @@ void IK_QOrientationTask::ComputeJacobian(IK_QJacobian& jacobian)
// Note: implementation not finished!
IK_QCenterOfMassTask::IK_QCenterOfMassTask(
- bool primary,
- const IK_QSegment *segment,
- const MT_Vector3& goal_center
-) :
+ bool primary,
+ const IK_QSegment *segment,
+ const MT_Vector3& goal_center
+ ) :
IK_QTask(3, primary, true, segment), m_goal_center(goal_center)
{
m_total_mass_inv = ComputeTotalMass(m_segment);
if (!MT_fuzzyZero(m_total_mass_inv))
- m_total_mass_inv = 1.0/m_total_mass_inv;
+ m_total_mass_inv = 1.0 / m_total_mass_inv;
}
MT_Scalar IK_QCenterOfMassTask::ComputeTotalMass(const IK_QSegment *segment)
@@ -182,7 +182,7 @@ MT_Scalar IK_QCenterOfMassTask::ComputeTotalMass(const IK_QSegment *segment)
MT_Vector3 IK_QCenterOfMassTask::ComputeCenter(const IK_QSegment *segment)
{
- MT_Vector3 center = /*seg->Mass()**/segment->GlobalStart();
+ MT_Vector3 center = /*seg->Mass()**/ segment->GlobalStart();
const IK_QSegment *seg;
for (seg = segment->Child(); seg; seg = seg->Sibling())
@@ -197,14 +197,14 @@ void IK_QCenterOfMassTask::JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& c
MT_Vector3 p = center - segment->GlobalStart();
for (i = 0; i < segment->NumberOfDoF(); i++) {
- MT_Vector3 axis = segment->Axis(i)*m_weight;
- axis *= /*segment->Mass()**/m_total_mass_inv;
+ MT_Vector3 axis = segment->Axis(i) * m_weight;
+ axis *= /*segment->Mass()**/ m_total_mass_inv;
if (segment->Translational())
- jacobian.SetDerivatives(m_id, segment->DoFId()+i, axis, 1e2);
+ jacobian.SetDerivatives(m_id, segment->DoFId() + i, axis, 1e2);
else {
MT_Vector3 pa = axis.cross(p);
- jacobian.SetDerivatives(m_id, segment->DoFId()+i, pa, 1e0);
+ jacobian.SetDerivatives(m_id, segment->DoFId() + i, pa, 1e0);
}
}
@@ -215,7 +215,7 @@ void IK_QCenterOfMassTask::JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& c
void IK_QCenterOfMassTask::ComputeJacobian(IK_QJacobian& jacobian)
{
- MT_Vector3 center = ComputeCenter(m_segment)*m_total_mass_inv;
+ MT_Vector3 center = ComputeCenter(m_segment) * m_total_mass_inv;
// compute beta
MT_Vector3 d_pos = m_goal_center - center;
@@ -224,10 +224,10 @@ void IK_QCenterOfMassTask::ComputeJacobian(IK_QJacobian& jacobian)
#if 0
if (m_distance > m_clamp_length)
- d_pos = (m_clamp_length/m_distance)*d_pos;
+ d_pos = (m_clamp_length / m_distance) * d_pos;
#endif
- jacobian.SetBetas(m_id, m_size, m_weight*d_pos);
+ jacobian.SetBetas(m_id, m_size, m_weight * d_pos);
// compute derivatives
JacobianSegment(jacobian, center, m_segment);
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-31 10:45:02 +0300