Revision: 2506
http://smartbody.svn.sourceforge.net/smartbody/?rev=2506&view=rev
Author: fengww
Date: 2011-09-24 00:23:43 +0000 (Sat, 24 Sep 2011)
Log Message:
-----------
Some optimization and parameter tuning in IK and example-based reach. The
performance increase is up to 2x ~ 3x in the debug mode. ( Which shows how poor
the original implementation is .. )
There are still a few places that can be further tweaked. Will add them later
if needed.
Modified Paths:
--------------
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtReachEngine.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtReachEngine.h
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_ccd_IK.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_data_interpolation.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_example_body_reach.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_jacobian_IK.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_jacobian_IK.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_example.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_example.hpp
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