Revision: 19907
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=19907
Author: ben2610
Date: 2009-04-23 15:41:59 +0200 (Thu, 23 Apr 2009)
Log Message:
-----------
itasc: missed propset on a few files.
Modified Paths:
--------------
branches/ge_dev/intern/itasc/MovingFrame.cpp
branches/ge_dev/intern/itasc/MovingFrame.hpp
branches/ge_dev/intern/itasc/Object.hpp
branches/ge_dev/intern/itasc/Scene.cpp
branches/ge_dev/intern/itasc/Scene.hpp
branches/ge_dev/intern/itasc/Solver.hpp
branches/ge_dev/intern/itasc/UncontrolledObject.cpp
branches/ge_dev/intern/itasc/UncontrolledObject.hpp
branches/ge_dev/intern/itasc/WDLSSolver.cpp
branches/ge_dev/intern/itasc/WDLSSolver.hpp
branches/ge_dev/intern/itasc/WSDLSSolver.cpp
branches/ge_dev/intern/itasc/WSDLSSolver.hpp
branches/ge_dev/intern/itasc/WorldObject.cpp
branches/ge_dev/intern/itasc/WorldObject.hpp
branches/ge_dev/intern/itasc/ublas_types.hpp
Property Changed:
----------------
branches/ge_dev/intern/itasc/Makefile
branches/ge_dev/intern/itasc/MovingFrame.cpp
branches/ge_dev/intern/itasc/MovingFrame.hpp
branches/ge_dev/intern/itasc/Object.hpp
branches/ge_dev/intern/itasc/SConscript
branches/ge_dev/intern/itasc/Scene.cpp
branches/ge_dev/intern/itasc/Scene.hpp
branches/ge_dev/intern/itasc/Solver.hpp
branches/ge_dev/intern/itasc/UncontrolledObject.cpp
branches/ge_dev/intern/itasc/UncontrolledObject.hpp
branches/ge_dev/intern/itasc/WDLSSolver.cpp
branches/ge_dev/intern/itasc/WDLSSolver.hpp
branches/ge_dev/intern/itasc/WSDLSSolver.cpp
branches/ge_dev/intern/itasc/WSDLSSolver.hpp
branches/ge_dev/intern/itasc/WorldObject.cpp
branches/ge_dev/intern/itasc/WorldObject.hpp
branches/ge_dev/intern/itasc/ublas_types.hpp
Property changes on: branches/ge_dev/intern/itasc/Makefile
___________________________________________________________________
Name: svn:keywords
+ Author Date Id Revision
Modified: branches/ge_dev/intern/itasc/MovingFrame.cpp
===================================================================
--- branches/ge_dev/intern/itasc/MovingFrame.cpp 2009-04-23 13:30:34 UTC
(rev 19906)
+++ branches/ge_dev/intern/itasc/MovingFrame.cpp 2009-04-23 13:41:59 UTC
(rev 19907)
@@ -1,147 +1,147 @@
-/* $Id$
- * MovingFrame.cpp
- *
- * Created on: Feb 10, 2009
- * Author: benoitbolsee
- */
-
-#include "MovingFrame.hpp"
-#include <malloc.h>
-#include <string.h>
-namespace iTaSC{
-
-static const unsigned int frameCacheSize =
sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data);
-
-MovingFrame::MovingFrame(const Frame& frame):UncontrolledObject(),
- m_function(NULL), m_param(NULL), m_velocity(), m_poseCCh(-1),
m_poseCTs(0)
-{
- m_internalPose = m_nextPose = frame;
- initialize(6, 1);
- e_matrix& Ju = m_JuArray[0];
- Ju = e_identity_matrix(6,6);
-}
-
-MovingFrame::~MovingFrame()
-{
-}
-
-void MovingFrame::finalize()
-{
- updateJacobian();
-}
-
-void MovingFrame::initCache(Cache *_cache)
-{
- m_cache = _cache;
- m_poseCCh = -1;
- if (m_cache) {
- m_poseCCh = m_cache->addChannel(this,"pose",frameCacheSize);
- // add the initial position at timestamp 0
- pushInternalFrame(0);
- }
-}
-
-void MovingFrame::pushInternalFrame(CacheTS timestamp)
-{
- if (m_poseCCh >= 0) {
- char *item;
- item = (char *)m_cache->addCacheItem(this, m_poseCCh,
timestamp, NULL, frameCacheSize);
- if (item) {
- memcpy(item, m_internalPose.p.data,
sizeof(m_internalPose.p.data));
- item += sizeof(m_internalPose.p.data);
- memcpy(item, m_internalPose.M.data,
sizeof(m_internalPose.M.data));
- }
- m_poseCTs = timestamp;
- }
-}
-
-// load pose just preceeding timestamp
-// return false if no cache position was found
-bool MovingFrame::popInternalFrame(CacheTS timestamp)
-{
- if (m_poseCCh >= 0) {
- char *item;
- item = (char *)m_cache->getPreviousCacheItem(this, m_poseCCh,
×tamp);
- if (item && m_poseCTs != timestamp) {
- memcpy(m_internalPose.p.data, item,
sizeof(m_internalPose.p.data));
- item += sizeof(m_internalPose.p.data);
- memcpy(m_internalPose.M.data, item,
sizeof(m_internalPose.M.data));
- m_poseCTs = timestamp;
- // changing the starting pose, recompute the jacobian
- updateJacobian();
- }
- return (item) ? true : false;
- }
- // in case of no cache, there is always a previous position
- return true;
-}
-
-bool MovingFrame::setFrame(const Frame& frame)
-{
- m_internalPose = m_nextPose = frame;
- return true;
-}
-
-bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param)
-{
- m_function = _function;
- m_param = _param;
- return true;
-}
-
-void MovingFrame::updateCoordinates(const Timestamp& timestamp)
-{
- // don't compute the velocity during substepping, it is assumed
constant.
- if (!timestamp.substep) {
- bool cacheAvail = true;
- if (!timestamp.reiterate)
- cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
- if (m_function)
- (*m_function)(timestamp, m_internalPose, m_nextPose,
m_param);
- // only compute velocity if we have a previous pose
- if (cacheAvail) {
- unsigned int iXu;
- m_velocity = diff(m_internalPose, m_nextPose,
timestamp.realTimestep);
- for (iXu=0; iXu<6; iXu++)
- m_xudot(iXu) = m_velocity(iXu);
- } else {
- // first position in cache, no velocity as we cannot
interpolate
- m_internalPose = m_nextPose;
- m_xudot = e_zero_vector(6);
- // recompute the jacobian
- updateJacobian();
- }
- }
-}
-
-void MovingFrame::updateKinematics(const Timestamp& timestamp)
-{
- if (timestamp.substep) {
- // during substepping, update the internal pose from velocity
information
- Twist localvel = m_internalPose.M.Inverse(m_velocity);
- m_internalPose.Integrate(localvel, 1.0/timestamp.realTimestep);
- } else {
- m_internalPose = m_nextPose;
- pushInternalFrame(timestamp.cacheTimestamp);
- }
- // m_internalPose is updated, recompute the jacobian
- updateJacobian();
-}
-
-void MovingFrame::updateJacobian()
-{
- Twist m_jac;
- e_matrix& Ju = m_JuArray[0];
-
- //Jacobian is always identity at position on the object,
- //we ust change the reference to the world.
- //instead of going through complicated jacobian operation, implemented
direct formula
- Ju(1,3) = m_internalPose.p.z();
- Ju(2,3) = -m_internalPose.p.y();
- Ju(0,4) = -m_internalPose.p.z();
- Ju(2,4) = m_internalPose.p.x();
- Ju(0,5) = m_internalPose.p.y();
- Ju(1,5) = -m_internalPose.p.x();
-}
-
-}
+/* $Id$
+ * MovingFrame.cpp
+ *
+ * Created on: Feb 10, 2009
+ * Author: benoitbolsee
+ */
+
+#include "MovingFrame.hpp"
+#include <malloc.h>
+#include <string.h>
+namespace iTaSC{
+
+static const unsigned int frameCacheSize =
sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data);
+
+MovingFrame::MovingFrame(const Frame& frame):UncontrolledObject(),
+ m_function(NULL), m_param(NULL), m_velocity(), m_poseCCh(-1),
m_poseCTs(0)
+{
+ m_internalPose = m_nextPose = frame;
+ initialize(6, 1);
+ e_matrix& Ju = m_JuArray[0];
+ Ju = e_identity_matrix(6,6);
+}
+
+MovingFrame::~MovingFrame()
+{
+}
+
+void MovingFrame::finalize()
+{
+ updateJacobian();
+}
+
+void MovingFrame::initCache(Cache *_cache)
+{
+ m_cache = _cache;
+ m_poseCCh = -1;
+ if (m_cache) {
+ m_poseCCh = m_cache->addChannel(this,"pose",frameCacheSize);
+ // add the initial position at timestamp 0
+ pushInternalFrame(0);
+ }
+}
+
+void MovingFrame::pushInternalFrame(CacheTS timestamp)
+{
+ if (m_poseCCh >= 0) {
+ char *item;
+ item = (char *)m_cache->addCacheItem(this, m_poseCCh,
timestamp, NULL, frameCacheSize);
+ if (item) {
+ memcpy(item, m_internalPose.p.data,
sizeof(m_internalPose.p.data));
+ item += sizeof(m_internalPose.p.data);
+ memcpy(item, m_internalPose.M.data,
sizeof(m_internalPose.M.data));
+ }
+ m_poseCTs = timestamp;
+ }
+}
+
+// load pose just preceeding timestamp
+// return false if no cache position was found
+bool MovingFrame::popInternalFrame(CacheTS timestamp)
+{
+ if (m_poseCCh >= 0) {
+ char *item;
+ item = (char *)m_cache->getPreviousCacheItem(this, m_poseCCh,
×tamp);
+ if (item && m_poseCTs != timestamp) {
+ memcpy(m_internalPose.p.data, item,
sizeof(m_internalPose.p.data));
+ item += sizeof(m_internalPose.p.data);
+ memcpy(m_internalPose.M.data, item,
sizeof(m_internalPose.M.data));
+ m_poseCTs = timestamp;
+ // changing the starting pose, recompute the jacobian
+ updateJacobian();
+ }
+ return (item) ? true : false;
+ }
+ // in case of no cache, there is always a previous position
+ return true;
+}
+
+bool MovingFrame::setFrame(const Frame& frame)
+{
+ m_internalPose = m_nextPose = frame;
+ return true;
+}
+
+bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param)
+{
+ m_function = _function;
+ m_param = _param;
+ return true;
+}
+
+void MovingFrame::updateCoordinates(const Timestamp& timestamp)
+{
+ // don't compute the velocity during substepping, it is assumed
constant.
+ if (!timestamp.substep) {
+ bool cacheAvail = true;
+ if (!timestamp.reiterate)
+ cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
+ if (m_function)
+ (*m_function)(timestamp, m_internalPose, m_nextPose,
m_param);
+ // only compute velocity if we have a previous pose
+ if (cacheAvail) {
+ unsigned int iXu;
+ m_velocity = diff(m_internalPose, m_nextPose,
timestamp.realTimestep);
+ for (iXu=0; iXu<6; iXu++)
+ m_xudot(iXu) = m_velocity(iXu);
+ } else {
+ // first position in cache, no velocity as we cannot
interpolate
+ m_internalPose = m_nextPose;
+ m_xudot = e_zero_vector(6);
+ // recompute the jacobian
+ updateJacobian();
+ }
+ }
+}
+
+void MovingFrame::updateKinematics(const Timestamp& timestamp)
+{
+ if (timestamp.substep) {
+ // during substepping, update the internal pose from velocity
information
+ Twist localvel = m_internalPose.M.Inverse(m_velocity);
+ m_internalPose.Integrate(localvel, 1.0/timestamp.realTimestep);
+ } else {
+ m_internalPose = m_nextPose;
+ pushInternalFrame(timestamp.cacheTimestamp);
+ }
+ // m_internalPose is updated, recompute the jacobian
+ updateJacobian();
+}
+
+void MovingFrame::updateJacobian()
+{
+ Twist m_jac;
+ e_matrix& Ju = m_JuArray[0];
+
+ //Jacobian is always identity at position on the object,
+ //we ust change the reference to the world.
+ //instead of going through complicated jacobian operation, implemented
direct formula
+ Ju(1,3) = m_internalPose.p.z();
+ Ju(2,3) = -m_internalPose.p.y();
+ Ju(0,4) = -m_internalPose.p.z();
+ Ju(2,4) = m_internalPose.p.x();
+ Ju(0,5) = m_internalPose.p.y();
+ Ju(1,5) = -m_internalPose.p.x();
+}
+
+}
Property changes on: branches/ge_dev/intern/itasc/MovingFrame.cpp
___________________________________________________________________
Name: svn:keywords
+ Author Date Id Revision
Name: svn:eol-style
+ native
Modified: branches/ge_dev/intern/itasc/MovingFrame.hpp
===================================================================
--- branches/ge_dev/intern/itasc/MovingFrame.hpp 2009-04-23 13:30:34 UTC
(rev 19906)
+++ branches/ge_dev/intern/itasc/MovingFrame.hpp 2009-04-23 13:41:59 UTC
(rev 19907)
@@ -1,47 +1,47 @@
-/* $Id$
- * MovingFrame.h
- *
- * Created on: Feb 10, 2009
- * Author: benoitbolsee
- */
-
-#ifndef MOVINGFRAME_HPP_
-#define MOVINGFRAME_HPP_
-
-#include "UncontrolledObject.hpp"
-#include <vector>
-
-
-namespace iTaSC{
-
-typedef bool (*MovingFrameCallback)(const Timestamp& timestamp, const Frame&
_current, Frame& _next, void *param);
-
-class MovingFrame: public UncontrolledObject {
-public:
- MovingFrame(const Frame& frame=F_identity);
- virtual ~MovingFrame();
-
- bool setFrame(const Frame& frame);
- bool setCallback(MovingFrameCallback _function, void* _param);
-
- virtual void updateCoordinates(const Timestamp& timestamp);
- virtual void updateKinematics(const Timestamp& timestamp);
- virtual void initCache(Cache *_cache);
- virtual void finalize();
-protected:
- virtual void updateJacobian();
-
-private:
- void pushInternalFrame(CacheTS timestamp);
- bool popInternalFrame(CacheTS timestamp);
- MovingFrameCallback m_function;
- void* m_param;
- Frame m_nextPose;
- Twist m_velocity;
- int m_poseCCh; // cache channel for pose
- unsigned int m_poseCTs;
-};
-
-}
-
-#endif /* MOVINGFRAME_H_ */
+/* $Id$
+ * MovingFrame.h
+ *
+ * Created on: Feb 10, 2009
+ * Author: benoitbolsee
+ */
+
+#ifndef MOVINGFRAME_HPP_
+#define MOVINGFRAME_HPP_
+
+#include "UncontrolledObject.hpp"
+#include <vector>
+
+
+namespace iTaSC{
+
@@ Diff output truncated at 10240 characters. @@
_______________________________________________
Bf-blender-cvs mailing list
[email protected]
http://lists.blender.org/mailman/listinfo/bf-blender-cvs
