Revision: 3360
http://smartbody.svn.sourceforge.net/smartbody/?rev=3360&view=rev
Author: fengww
Date: 2012-05-26 00:37:25 +0000 (Sat, 26 May 2012)
Log Message:
-----------
Fix the save function for SkMotion : also write out sync point when saving out
a motion file.
Partially fix the IK for pre-rotation/orientation skeleton. Now include joint
orientation when computing global position. This fixes most problems with Adapt
character, but for some reason the IK result is still not accurate enough.
Could be missing something in the IK computation to account for pre-rotation.
More fixes need to be done to figure this out.
Modified Paths:
--------------
trunk/core/smartbody/smartbody-lib/src/bml/bml_bodyreach.cpp
trunk/core/smartbody/smartbody-lib/src/controllers/MeCtReachEngine.cpp
trunk/core/smartbody/smartbody-lib/src/controllers/me_ct_ccd_IK.cpp
trunk/core/smartbody/smartbody-lib/src/controllers/me_ct_example_body_reach.hpp
trunk/core/smartbody/smartbody-lib/src/controllers/me_ct_jacobian_IK.cpp
trunk/core/smartbody/smartbody-lib/src/sb/SBMotion.h
trunk/core/smartbody/smartbody-lib/src/sbm/sbm_character.cpp
trunk/core/smartbody/smartbody-lib/src/sk/sk_motion_io.cpp
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