Revision: 23512
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=23512
Author: ben2610
Date: 2009-09-27 18:20:42 +0200 (Sun, 27 Sep 2009)
Log Message:
-----------
Speed optimization in itasc when with armature with many bones and few targets.
Thanks to Brecht who pointed out a simple but efficient optimization in SVD
decomposition.
Modified Paths:
--------------
trunk/blender/intern/itasc/WDLSSolver.cpp
trunk/blender/intern/itasc/WDLSSolver.hpp
trunk/blender/intern/itasc/WSDLSSolver.cpp
trunk/blender/intern/itasc/WSDLSSolver.hpp
Modified: trunk/blender/intern/itasc/WDLSSolver.cpp
===================================================================
--- trunk/blender/intern/itasc/WDLSSolver.cpp 2009-09-27 14:04:46 UTC (rev
23511)
+++ trunk/blender/intern/itasc/WDLSSolver.cpp 2009-09-27 16:20:42 UTC (rev
23512)
@@ -24,12 +24,22 @@
m_ns = std::min(nc,nq);
m_AWq = e_zero_matrix(nc,nq);
m_WyAWq = e_zero_matrix(nc,nq);
- m_U = e_zero_matrix(nc,nq);
+ m_WyAWqt = e_zero_matrix(nq,nc);
m_S = e_zero_vector(std::max(nc,nq));
- m_temp = e_zero_vector(nq);
- m_V = e_zero_matrix(nq,nq);
- m_WqV = e_zero_matrix(nq,nq);
m_Wy_ydot = e_zero_vector(nc);
+ if (nq > nc) {
+ m_transpose = true;
+ m_temp = e_zero_vector(nc);
+ m_U = e_zero_matrix(nc,nc);
+ m_V = e_zero_matrix(nq,nc);
+ m_WqV = e_zero_matrix(nq,nc);
+ } else {
+ m_transpose = false;
+ m_temp = e_zero_vector(nq);
+ m_U = e_zero_matrix(nc,nq);
+ m_V = e_zero_matrix(nq,nq);
+ m_WqV = e_zero_matrix(nq,nq);
+ }
return true;
}
@@ -42,7 +52,13 @@
m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
// Compute the SVD of the weighted jacobian
- int ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
+ int ret;
+ if (m_transpose) {
+ m_WyAWqt = m_WyAWq.transpose();
+ ret = KDL::svd_eigen_HH(m_WyAWqt,m_V,m_S,m_U,m_temp);
+ } else {
+ ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
+ }
if(ret<0)
return false;
Modified: trunk/blender/intern/itasc/WDLSSolver.hpp
===================================================================
--- trunk/blender/intern/itasc/WDLSSolver.hpp 2009-09-27 14:04:46 UTC (rev
23511)
+++ trunk/blender/intern/itasc/WDLSSolver.hpp 2009-09-27 16:20:42 UTC (rev
23512)
@@ -14,12 +14,13 @@
class WDLSSolver: public iTaSC::Solver {
private:
- e_matrix m_AWq,m_WyAWq,m_U,m_V,m_WqV;
+ e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
e_vector m_S,m_temp,m_Wy_ydot;
double m_lambda;
double m_epsilon;
double m_qmax;
int m_ns;
+ bool m_transpose;
public:
WDLSSolver();
virtual ~WDLSSolver();
Modified: trunk/blender/intern/itasc/WSDLSSolver.cpp
===================================================================
--- trunk/blender/intern/itasc/WSDLSSolver.cpp 2009-09-27 14:04:46 UTC (rev
23511)
+++ trunk/blender/intern/itasc/WSDLSSolver.cpp 2009-09-27 16:20:42 UTC (rev
23512)
@@ -31,13 +31,23 @@
m_ns = std::min(m_nc,m_nq);
m_AWq = e_zero_matrix(m_nc,m_nq);
m_WyAWq = e_zero_matrix(m_nc,m_nq);
- m_U = e_zero_matrix(m_nc,m_nq);
+ m_WyAWqt = e_zero_matrix(m_nq,m_nc);
m_S = e_zero_vector(std::max(m_nc,m_nq));
- m_temp = e_zero_vector(m_nq);
- m_V = e_zero_matrix(m_nq,m_nq);
- m_WqV = e_zero_matrix(m_nq,m_nq);
m_Wy_ydot = e_zero_vector(m_nc);
m_ytask = gc;
+ if (m_nq > m_nc) {
+ m_transpose = true;
+ m_temp = e_zero_vector(m_nc);
+ m_U = e_zero_matrix(m_nc,m_nc);
+ m_V = e_zero_matrix(m_nq,m_nc);
+ m_WqV = e_zero_matrix(m_nq,m_nc);
+ } else {
+ m_transpose = false;
+ m_temp = e_zero_vector(m_nq);
+ m_U = e_zero_matrix(m_nc,m_nq);
+ m_V = e_zero_matrix(m_nq,m_nq);
+ m_WqV = e_zero_matrix(m_nq,m_nq);
+ }
return true;
}
@@ -52,7 +62,13 @@
m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
// Compute the SVD of the weighted jacobian
- int ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
+ int ret;
+ if (m_transpose) {
+ m_WyAWqt = m_WyAWq.transpose();
+ ret = KDL::svd_eigen_HH(m_WyAWqt,m_V,m_S,m_U,m_temp);
+ } else {
+ ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
+ }
if(ret<0)
return false;
Modified: trunk/blender/intern/itasc/WSDLSSolver.hpp
===================================================================
--- trunk/blender/intern/itasc/WSDLSSolver.hpp 2009-09-27 14:04:46 UTC (rev
23511)
+++ trunk/blender/intern/itasc/WSDLSSolver.hpp 2009-09-27 16:20:42 UTC (rev
23512)
@@ -14,11 +14,12 @@
class WSDLSSolver: public iTaSC::Solver {
private:
- e_matrix m_AWq,m_WyAWq,m_U,m_V,m_WqV;
+ e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
e_vector m_S,m_temp,m_Wy_ydot;
std::vector<bool> m_ytask;
e_scalar m_qmax;
unsigned int m_ns, m_nc, m_nq;
+ bool m_transpose;
public:
WSDLSSolver();
virtual ~WSDLSSolver();
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