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Fix #27891: IK stretch gives inaccurate results. Tweaked translation segment

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convergence weight a bit to match angles better at typical scales.
This commit is contained in:
Brecht Van Lommel
2011-07-08 12:18:54 +00:00
parent aa7b843b1c
commit 9159afe77a
3 changed files with 13 additions and 9 deletions
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7
intern/iksolver/intern/IK_QJacobian.cpp
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@@ -59,6 +59,7 @@ void IK_QJacobian::ArmMatrices(int dof, int task_size)
m_d_theta.newsize(dof); m_d_theta.newsize(dof);
m_d_theta_tmp.newsize(dof); m_d_theta_tmp.newsize(dof);
m_d_norm_weight.newsize(dof);
m_norm.newsize(dof); m_norm.newsize(dof);
m_norm = 0.0; m_norm = 0.0;
@@ -111,11 +112,13 @@ void IK_QJacobian::SetBetas(int id, int, const MT_Vector3& v)
m_beta[id+2] = v.z(); m_beta[id+2] = v.z();
} }
void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v) void IK_QJacobian::SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight)
{ {
m_jacobian[id][dof_id] = v.x()*m_weight_sqrt[dof_id]; m_jacobian[id][dof_id] = v.x()*m_weight_sqrt[dof_id];
m_jacobian[id+1][dof_id] = v.y()*m_weight_sqrt[dof_id]; m_jacobian[id+1][dof_id] = v.y()*m_weight_sqrt[dof_id];
m_jacobian[id+2][dof_id] = v.z()*m_weight_sqrt[dof_id]; m_jacobian[id+2][dof_id] = v.z()*m_weight_sqrt[dof_id];
m_d_norm_weight[dof_id] = norm_weight;
} }
void IK_QJacobian::Invert() void IK_QJacobian::Invert()
@@ -429,7 +432,7 @@ MT_Scalar IK_QJacobian::AngleUpdateNorm() const
MT_Scalar mx = 0.0, dtheta_abs; MT_Scalar mx = 0.0, dtheta_abs;
for (i = 0; i < m_d_theta.size(); i++) { for (i = 0; i < m_d_theta.size(); i++) {
dtheta_abs = MT_abs(m_d_theta[i]); dtheta_abs = MT_abs(m_d_theta[i]*m_d_norm_weight[i]);
if (dtheta_abs > mx) if (dtheta_abs > mx)
mx = dtheta_abs; mx = dtheta_abs;
} }

3
intern/iksolver/intern/IK_QJacobian.h
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@@ -56,7 +56,7 @@ public:
// Iteratively called // Iteratively called
void SetBetas(int id, int size, const MT_Vector3& v); void SetBetas(int id, int size, const MT_Vector3& v);
void SetDerivatives(int id, int dof_id, const MT_Vector3& v); void SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight);
void Invert(); void Invert();
@@ -89,6 +89,7 @@ private:
/// the vector of computed angle changes /// the vector of computed angle changes
TVector m_d_theta; TVector m_d_theta;
TVector m_d_norm_weight;
/// space required for SVD computation /// space required for SVD computation

12
intern/iksolver/intern/IK_QTask.cpp
View File

@@ -95,10 +95,10 @@ void IK_QPositionTask::ComputeJacobian(IK_QJacobian& jacobian)
MT_Vector3 axis = seg->Axis(i)*m_weight; MT_Vector3 axis = seg->Axis(i)*m_weight;
if (seg->Translational()) if (seg->Translational())
jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis); jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis, 1e2);
else { else {
MT_Vector3 pa = p.cross(axis); MT_Vector3 pa = p.cross(axis);
jacobian.SetDerivatives(m_id, seg->DoFId()+i, pa); jacobian.SetDerivatives(m_id, seg->DoFId()+i, pa, 1e0);
} }
} }
} }
@@ -147,10 +147,10 @@ void IK_QOrientationTask::ComputeJacobian(IK_QJacobian& jacobian)
for (i = 0; i < seg->NumberOfDoF(); i++) { for (i = 0; i < seg->NumberOfDoF(); i++) {
if (seg->Translational()) if (seg->Translational())
jacobian.SetDerivatives(m_id, seg->DoFId()+i, MT_Vector3(0, 0, 0)); jacobian.SetDerivatives(m_id, seg->DoFId()+i, MT_Vector3(0, 0, 0), 1e2);
else { else {
MT_Vector3 axis = seg->Axis(i)*m_weight; MT_Vector3 axis = seg->Axis(i)*m_weight;
jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis); jacobian.SetDerivatives(m_id, seg->DoFId()+i, axis, 1e0);
} }
} }
} }
@@ -202,10 +202,10 @@ void IK_QCenterOfMassTask::JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& c
axis *= /*segment->Mass()**/m_total_mass_inv; axis *= /*segment->Mass()**/m_total_mass_inv;
if (segment->Translational()) if (segment->Translational())
jacobian.SetDerivatives(m_id, segment->DoFId()+i, axis); jacobian.SetDerivatives(m_id, segment->DoFId()+i, axis, 1e2);
else { else {
MT_Vector3 pa = axis.cross(p); MT_Vector3 pa = axis.cross(p);
jacobian.SetDerivatives(m_id, segment->DoFId()+i, pa); jacobian.SetDerivatives(m_id, segment->DoFId()+i, pa, 1e0);
} }
} }