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style cleanup

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This commit is contained in:
Campbell Barton
2012-07-27 22:35:27 +00:00
parent e2360ab495
commit f23bfdfab4
6 changed files with 324 additions and 324 deletions
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87
intern/iksolver/intern/IK_Solver.cpp
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@@ -42,20 +42,21 @@ using namespace std;
class IK_QSolver {
public:
IK_QSolver() : root(NULL) {};
IK_QSolver() : root(NULL) {
};
IK_QJacobianSolver solver;
IK_QSegment *root;
std::list<IK_QTask*> tasks;
std::list<IK_QTask *> tasks;
};
// FIXME: locks still result in small "residual" changes to the locked axes...
IK_QSegment *CreateSegment(int flag, bool translate)
{
int ndof = 0;
ndof += (flag & IK_XDOF)? 1: 0;
ndof += (flag & IK_YDOF)? 1: 0;
ndof += (flag & IK_ZDOF)? 1: 0;
ndof += (flag & IK_XDOF) ? 1 : 0;
ndof += (flag & IK_YDOF) ? 1 : 0;
ndof += (flag & IK_ZDOF) ? 1 : 0;
IK_QSegment *seg;
@@ -78,7 +79,7 @@ IK_QSegment *CreateSegment(int flag, bool translate)
if (flag & IK_XDOF) {
axis1 = 0;
axis2 = (flag & IK_YDOF)? 1: 2;
axis2 = (flag & IK_YDOF) ? 1 : 2;
}
else {
axis1 = 1;
@@ -91,7 +92,7 @@ IK_QSegment *CreateSegment(int flag, bool translate)
if (axis1 + axis2 == 2)
seg = new IK_QSwingSegment();
else
seg = new IK_QElbowSegment((axis1 == 0)? 0: 2);
seg = new IK_QElbowSegment((axis1 == 0) ? 0 : 2);
}
}
else {
@@ -131,7 +132,7 @@ IK_Segment *IK_CreateSegment(int flag)
void IK_FreeSegment(IK_Segment *seg)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
if (qseg->Composite())
delete qseg->Composite();
@@ -140,8 +141,8 @@ void IK_FreeSegment(IK_Segment *seg)
void IK_SetParent(IK_Segment *seg, IK_Segment *parent)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qparent = (IK_QSegment*)parent;
IK_QSegment *qseg = (IK_QSegment *)seg;
IK_QSegment *qparent = (IK_QSegment *)parent;
if (qparent && qparent->Composite())
qseg->SetParent(qparent->Composite());
@@ -151,7 +152,7 @@ void IK_SetParent(IK_Segment *seg, IK_Segment *parent)
void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float basis[][3], float length)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
MT_Vector3 mstart(start);
// convert from blender column major to moto row major
@@ -177,19 +178,19 @@ void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float bas
void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
if (axis >= IK_TRANS_X) {
if(!qseg->Translational()) {
if(qseg->Composite() && qseg->Composite()->Translational())
if (!qseg->Translational()) {
if (qseg->Composite() && qseg->Composite()->Translational())
qseg = qseg->Composite();
else
return;
}
if(axis == IK_TRANS_X) axis = IK_X;
else if(axis == IK_TRANS_Y) axis = IK_Y;
else axis = IK_Z;
if (axis == IK_TRANS_X) axis = IK_X;
else if (axis == IK_TRANS_Y) axis = IK_Y;
else axis = IK_Z;
}
qseg->SetLimit(axis, lmin, lmax);
@@ -203,19 +204,19 @@ void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness)
if (stiffness > 0.999f)
stiffness = 0.999f;
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
MT_Scalar weight = 1.0f - stiffness;
if (axis >= IK_TRANS_X) {
if(!qseg->Translational()) {
if(qseg->Composite() && qseg->Composite()->Translational())
if (!qseg->Translational()) {
if (qseg->Composite() && qseg->Composite()->Translational())
qseg = qseg->Composite();
else
return;
}
if(axis == IK_TRANS_X) axis = IK_X;
else if(axis == IK_TRANS_Y) axis = IK_Y;
if (axis == IK_TRANS_X) axis = IK_X;
else if (axis == IK_TRANS_Y) axis = IK_Y;
else axis = IK_Z;
}
@@ -224,7 +225,7 @@ void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness)
void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3])
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
if (qseg->Translational() && qseg->Composite())
qseg = qseg->Composite();
@@ -245,7 +246,7 @@ void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3])
void IK_GetTranslationChange(IK_Segment *seg, float *translation_change)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
IK_QSegment *qseg = (IK_QSegment *)seg;
if (!qseg->Translational() && qseg->Composite())
qseg = qseg->Composite();
@@ -263,9 +264,9 @@ IK_Solver *IK_CreateSolver(IK_Segment *root)
return NULL;
IK_QSolver *solver = new IK_QSolver();
solver->root = (IK_QSegment*)root;
solver->root = (IK_QSegment *)root;
return (IK_Solver*)solver;
return (IK_Solver *)solver;
}
void IK_FreeSolver(IK_Solver *solver)
@@ -273,9 +274,9 @@ void IK_FreeSolver(IK_Solver *solver)
if (solver == NULL)
return;
IK_QSolver *qsolver = (IK_QSolver*)solver;
std::list<IK_QTask*>& tasks = qsolver->tasks;
std::list<IK_QTask*>::iterator task;
IK_QSolver *qsolver = (IK_QSolver *)solver;
std::list<IK_QTask *>& tasks = qsolver->tasks;
std::list<IK_QTask *>::iterator task;
for (task = tasks.begin(); task != tasks.end(); task++)
delete (*task);
@@ -288,8 +289,8 @@ void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float w
if (solver == NULL || tip == NULL)
return;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSegment *qtip = (IK_QSegment*)tip;
IK_QSolver *qsolver = (IK_QSolver *)solver;
IK_QSegment *qtip = (IK_QSegment *)tip;
if (qtip->Composite())
qtip = qtip->Composite();
@@ -306,8 +307,8 @@ void IK_SolverAddGoalOrientation(IK_Solver *solver, IK_Segment *tip, float goal[
if (solver == NULL || tip == NULL)
return;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSegment *qtip = (IK_QSegment*)tip;
IK_QSolver *qsolver = (IK_QSolver *)solver;
IK_QSegment *qtip = (IK_QSegment *)tip;
if (qtip->Composite())
qtip = qtip->Composite();
@@ -327,14 +328,14 @@ void IK_SolverSetPoleVectorConstraint(IK_Solver *solver, IK_Segment *tip, float
if (solver == NULL || tip == NULL)
return;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSegment *qtip = (IK_QSegment*)tip;
IK_QSolver *qsolver = (IK_QSolver *)solver;
IK_QSegment *qtip = (IK_QSegment *)tip;
MT_Vector3 qgoal(goal);
MT_Vector3 qpolegoal(polegoal);
qsolver->solver.SetPoleVectorConstraint(
qtip, qgoal, qpolegoal, poleangle, getangle);
qtip, qgoal, qpolegoal, poleangle, getangle);
}
float IK_SolverGetPoleAngle(IK_Solver *solver)
@@ -342,7 +343,7 @@ float IK_SolverGetPoleAngle(IK_Solver *solver)
if (solver == NULL)
return 0.0f;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSolver *qsolver = (IK_QSolver *)solver;
return qsolver->solver.GetPoleAngle();
}
@@ -352,8 +353,8 @@ void IK_SolverAddCenterOfMass(IK_Solver *solver, IK_Segment *root, float goal[3]
if (solver == NULL || root == NULL)
return;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSegment *qroot = (IK_QSegment*)root;
IK_QSolver *qsolver = (IK_QSolver *)solver;
IK_QSegment *qroot = (IK_QSegment *)root;
// convert from blender column major to moto row major
MT_Vector3 center(goal);
@@ -368,18 +369,18 @@ int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations)
if (solver == NULL)
return 0;
IK_QSolver *qsolver = (IK_QSolver*)solver;
IK_QSolver *qsolver = (IK_QSolver *)solver;
IK_QSegment *root = qsolver->root;
IK_QJacobianSolver& jacobian = qsolver->solver;
std::list<IK_QTask*>& tasks = qsolver->tasks;
std::list<IK_QTask *>& tasks = qsolver->tasks;
MT_Scalar tol = tolerance;
if(!jacobian.Setup(root, tasks))
if (!jacobian.Setup(root, tasks))
return 0;
bool result = jacobian.Solve(root, tasks, tol, max_iterations);
return ((result)? 1: 0);
return ((result) ? 1 : 0);
}