Revision: 5501
http://sourceforge.net/p/smartbody/code/5501
Author: fengww
Date: 2014-03-17 23:23:59 +0000 (Mon, 17 Mar 2014)
Log Message:
-----------
Fixed the motion jitter caused by IK solver. The reason is due to some rounding
error when converting quaternion to axis-angle. Thus the angle becomes zero
when quaternion rotation is very small. Now add special handling for this kind
of case to ensure smooth motion.
Modified Paths:
--------------
trunk/core/smartbody/SmartBody/src/controllers/me_ct_jacobian_IK.cpp
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