Revision: 20874
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20874
Author: ben2610
Date: 2009-06-14 15:50:34 +0200 (Sun, 14 Jun 2009)
Log Message:
-----------
iTaSC: joint limit taken into account in automatic timestep adjustement.
Modified Paths:
--------------
branches/ge_dev/intern/itasc/Armature.cpp
branches/ge_dev/intern/itasc/Scene.cpp
branches/ge_dev/source/blender/ikplugin/intern/itasc_plugin.cpp
Modified: branches/ge_dev/intern/itasc/Armature.cpp
===================================================================
--- branches/ge_dev/intern/itasc/Armature.cpp 2009-06-14 12:53:47 UTC (rev
20873)
+++ branches/ge_dev/intern/itasc/Armature.cpp 2009-06-14 13:50:34 UTC (rev
20874)
@@ -496,8 +496,45 @@
// then search through the joint limit
for (JointConstraintList::const_iterator it=m_constraints.begin(); it
!= m_constraints.end(); it++) {
JointConstraint_struct* cs = *it;
-
-
+ if (cs->function == JointLimitCallback) {
+ // this is a joint limit constraint,
+ LimitConstraintParam_struct* pLimit =
(LimitConstraintParam_struct*)cs->param;
+ double qdot = m_qdot(cs->segment->second.q_nr);
+ if (fabs(qdot) > KDL::epsilon) {
+ double q = m_qKdl(cs->segment->second.q_nr);
+ double dq = qdot*timestep;
+ double newq = q+dq;
+ double alpha = cs->values.alpha;
+ double newalpha;
+ if (q > pLimit->maxThreshold || q <
pLimit->minThreshold ||
+ newq > pLimit->maxThreshold || newq <
pLimit->minThreshold) {
+ if (q > pLimit->maxThreshold) {
+ if (q < pLimit->max || dq <
0.0) {
+ newalpha =
(alpha>2.0)?(alpha*((dq>0.0)?1.5:0.666)):(alpha+((dq>0.0)?1.0:-1.0));
+ if (newalpha > 0.0)
+ newq =
pLimit->max-pLimit->threshold*(pLimit->maxWeight-newalpha)/(newalpha*pLimit->slope+pLimit->maxWeight);
+ }
+ } else if (q < pLimit->minThreshold) {
+ if (q > pLimit->min || dq >
0.0) {
+ newalpha =
(alpha>2.0)?(alpha*((dq<0.0)?1.5:0.666)):(alpha+((dq<0.0)?1.0:-1.0));
+ if (newalpha > 0.0)
+ newq =
pLimit->min+pLimit->threshold*(pLimit->maxWeight-newalpha)/(newalpha*pLimit->slope+pLimit->maxWeight);
+ }
+ } else if (newq > pLimit->maxThreshold)
{
+ newalpha = 1.0;
+ newq =
pLimit->max-pLimit->threshold*(pLimit->maxWeight-newalpha)/(newalpha*pLimit->slope+pLimit->maxWeight);
+ } else {
+ newalpha = 1.0;
+ newq =
pLimit->min+pLimit->threshold*(pLimit->maxWeight-newalpha)/(newalpha*pLimit->slope+pLimit->maxWeight);
+ }
+ double newdq = fabs(newq-q);
+ dq = fabs(dq);
+ if (newdq < dq) {
+ timestep *= newdq/dq;
+ }
+ }
+ }
+ }
}
return timestep;
}
Modified: branches/ge_dev/intern/itasc/Scene.cpp
===================================================================
--- branches/ge_dev/intern/itasc/Scene.cpp 2009-06-14 12:53:47 UTC (rev
20873)
+++ branches/ge_dev/intern/itasc/Scene.cpp 2009-06-14 13:50:34 UTC (rev
20874)
@@ -397,7 +397,7 @@
ConstraintSet_struct* cs = it->second;
cs->task->getMaxTimestep(timesubstep);
}
- // use substep that are dividers of timestep for more
regularity
+ // use substep that are even dividers of timestep for
more regularity
maxsubstep =
2.0*floor(timestep/2.0/timesubstep-0.66666);
timesubstep = (maxsubstep < 0.0) ? timestep :
timestep/(2.0+maxsubstep);
if (timesubstep >= timeleft-(m_minstep/2.0)) {
Modified: branches/ge_dev/source/blender/ikplugin/intern/itasc_plugin.cpp
===================================================================
--- branches/ge_dev/source/blender/ikplugin/intern/itasc_plugin.cpp
2009-06-14 12:53:47 UTC (rev 20873)
+++ branches/ge_dev/source/blender/ikplugin/intern/itasc_plugin.cpp
2009-06-14 13:50:34 UTC (rev 20874)
@@ -692,19 +692,19 @@
if ((flag & IK_XDOF) && (pchan->ikflag & BONE_IK_XLIMIT)) {
joint = bone->name;
joint += ":RX";
- if (arm->addLimitConstraint(joint,
KDL::deg2rad*pchan->limitmin[0], KDL::deg2rad*pchan->limitmax[0],
KDL::deg2rad*5.0, 10.0, 2.0) < 0)
+ if (arm->addLimitConstraint(joint, pchan->limitmin[0],
pchan->limitmax[0], 5.0, 50.0, 5.0) < 0)
break;
}
if ((flag & IK_YDOF) && (pchan->ikflag & BONE_IK_YLIMIT)) {
joint = bone->name;
joint += ":RY";
- if (arm->addLimitConstraint(joint,
KDL::deg2rad*pchan->limitmin[1], KDL::deg2rad*pchan->limitmax[1],
KDL::deg2rad*5.0, 10.0, 2.0) < 0)
+ if (arm->addLimitConstraint(joint, pchan->limitmin[1],
pchan->limitmax[1], 5.0, 50.0, 5.0) < 0)
break;
}
if ((flag & IK_ZDOF) && (pchan->ikflag & BONE_IK_ZLIMIT)) {
joint = bone->name;
joint += ":RZ";
- if (arm->addLimitConstraint(joint,
KDL::deg2rad*pchan->limitmin[2], KDL::deg2rad*pchan->limitmax[2],
KDL::deg2rad*5.0, 10.0, 2.0) < 0)
+ if (arm->addLimitConstraint(joint, pchan->limitmin[2],
pchan->limitmax[2], 5.0, 50.0, 5.0) < 0)
break;
}
// no error, so restore
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