diff options
Diffstat (limited to 'intern/iksolver/intern/IK_Solver.cpp')
| -rw-r--r-- | intern/iksolver/intern/IK_Solver.cpp | 70 |
1 files changed, 35 insertions, 35 deletions
diff --git a/intern/iksolver/intern/IK_Solver.cpp b/intern/iksolver/intern/IK_Solver.cpp index eb18cde3356..cefb8c7ed7b 100644 --- a/intern/iksolver/intern/IK_Solver.cpp +++ b/intern/iksolver/intern/IK_Solver.cpp @@ -154,19 +154,19 @@ void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float bas { IK_QSegment *qseg = (IK_QSegment *)seg; - MT_Vector3 mstart(start); - // convert from blender column major to moto row major - MT_Matrix3x3 mbasis(basis[0][0], basis[1][0], basis[2][0], - basis[0][1], basis[1][1], basis[2][1], - basis[0][2], basis[1][2], basis[2][2]); - MT_Matrix3x3 mrest(rest[0][0], rest[1][0], rest[2][0], - rest[0][1], rest[1][1], rest[2][1], - rest[0][2], rest[1][2], rest[2][2]); - MT_Scalar mlength(length); + Vector3d mstart(start[0], start[1], start[2]); + // convert from blender column major + Matrix3d mbasis = CreateMatrix(basis[0][0], basis[1][0], basis[2][0], + basis[0][1], basis[1][1], basis[2][1], + basis[0][2], basis[1][2], basis[2][2]); + Matrix3d mrest = CreateMatrix(rest[0][0], rest[1][0], rest[2][0], + rest[0][1], rest[1][1], rest[2][1], + rest[0][2], rest[1][2], rest[2][2]); + double mlength(length); if (qseg->Composite()) { - MT_Vector3 cstart(0, 0, 0); - MT_Matrix3x3 cbasis; + Vector3d cstart(0, 0, 0); + Matrix3d cbasis; cbasis.setIdentity(); qseg->SetTransform(mstart, mrest, mbasis, 0.0); @@ -205,7 +205,7 @@ void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness) stiffness = (1.0 - IK_STRETCH_STIFF_EPS); IK_QSegment *qseg = (IK_QSegment *)seg; - MT_Scalar weight = 1.0f - stiffness; + double weight = 1.0f - stiffness; if (axis >= IK_TRANS_X) { if (!qseg->Translational()) { @@ -230,18 +230,18 @@ void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]) if (qseg->Translational() && qseg->Composite()) qseg = qseg->Composite(); - const MT_Matrix3x3& change = qseg->BasisChange(); - - // convert from moto row major to blender column major - basis_change[0][0] = (float)change[0][0]; - basis_change[1][0] = (float)change[0][1]; - basis_change[2][0] = (float)change[0][2]; - basis_change[0][1] = (float)change[1][0]; - basis_change[1][1] = (float)change[1][1]; - basis_change[2][1] = (float)change[1][2]; - basis_change[0][2] = (float)change[2][0]; - basis_change[1][2] = (float)change[2][1]; - basis_change[2][2] = (float)change[2][2]; + const Matrix3d& change = qseg->BasisChange(); + + // convert to blender column major + basis_change[0][0] = (float)change(0, 0); + basis_change[1][0] = (float)change(0, 1); + basis_change[2][0] = (float)change(0, 2); + basis_change[0][1] = (float)change(1, 0); + basis_change[1][1] = (float)change(1, 1); + basis_change[2][1] = (float)change(1, 2); + basis_change[0][2] = (float)change(2, 0); + basis_change[1][2] = (float)change(2, 1); + basis_change[2][2] = (float)change(2, 2); } void IK_GetTranslationChange(IK_Segment *seg, float *translation_change) @@ -251,7 +251,7 @@ void IK_GetTranslationChange(IK_Segment *seg, float *translation_change) if (!qseg->Translational() && qseg->Composite()) qseg = qseg->Composite(); - const MT_Vector3& change = qseg->TranslationChange(); + const Vector3d& change = qseg->TranslationChange(); translation_change[0] = (float)change[0]; translation_change[1] = (float)change[1]; @@ -296,7 +296,7 @@ void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float w if (qtip->Composite()) qtip = qtip->Composite(); - MT_Vector3 pos(goal); + Vector3d pos(goal[0], goal[1], goal[2]); IK_QTask *ee = new IK_QPositionTask(true, qtip, pos); ee->SetWeight(weight); @@ -315,10 +315,10 @@ void IK_SolverAddGoalOrientation(IK_Solver *solver, IK_Segment *tip, float goal[ if (qtip->Composite()) qtip = qtip->Composite(); - // convert from blender column major to moto row major - MT_Matrix3x3 rot(goal[0][0], goal[1][0], goal[2][0], - goal[0][1], goal[1][1], goal[2][1], - goal[0][2], goal[1][2], goal[2][2]); + // convert from blender column major + Matrix3d rot = CreateMatrix(goal[0][0], goal[1][0], goal[2][0], + goal[0][1], goal[1][1], goal[2][1], + goal[0][2], goal[1][2], goal[2][2]); IK_QTask *orient = new IK_QOrientationTask(true, qtip, rot); orient->SetWeight(weight); @@ -337,8 +337,8 @@ void IK_SolverSetPoleVectorConstraint(IK_Solver *solver, IK_Segment *tip, float if (qtip->Composite()) qtip = qtip->Composite(); - MT_Vector3 qgoal(goal); - MT_Vector3 qpolegoal(polegoal); + Vector3d qgoal(goal[0], goal[1], goal[2]); + Vector3d qpolegoal(polegoal[0], polegoal[1], polegoal[2]); qsolver->solver.SetPoleVectorConstraint( qtip, qgoal, qpolegoal, poleangle, getangle); @@ -363,8 +363,8 @@ static void IK_SolverAddCenterOfMass(IK_Solver *solver, IK_Segment *root, float IK_QSolver *qsolver = (IK_QSolver *)solver; IK_QSegment *qroot = (IK_QSegment *)root; - // convert from blender column major to moto row major - MT_Vector3 center(goal); + // convert from blender column major + Vector3d center(goal); IK_QTask *com = new IK_QCenterOfMassTask(true, qroot, center); com->SetWeight(weight); @@ -382,7 +382,7 @@ int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations) IK_QSegment *root = qsolver->root; IK_QJacobianSolver& jacobian = qsolver->solver; std::list<IK_QTask *>& tasks = qsolver->tasks; - MT_Scalar tol = tolerance; + double tol = tolerance; if (!jacobian.Setup(root, tasks)) return 0; |