* Rename Legacy to Standard, it's not being deprecated as far as I know.
* Make option to toggle off Location solving work with Standard.
* Make it converge a bit better in some cases by enforcing a minimum number of
iterations before giving up.
* Move IK solver choice out of bone panel, it's an armature level setting and
should be set there.
- comment/remove assignments from values to themselves.
- add case break statements (no functional change but some source code checkers notice).
- fix python errors when the sculpt brush is None.
In 2.49, you could adjust the maximum length of Auto-IK Chains by using scrollwheel up/down or page up/down while moving Auto-IK bones. Now this is possible again with those hotkeys, but you need to hold SHIFT to get this to work, otherwise we get a conflict with the hotkeys for proportional edit nowadays.
Was broken when transform tools switched from using hardcoded key mappings to using a modal keymap.
* Division by zero fix for TNT SVD code.
* Sound fix, in case ffmpeg decode fails, don't use the samples.
* Fix for incorrect bounds of transformed objects in new raytracing code.
* Gave memory arena's a name used for allocations for easier memory
usage debugging.
* Dupligroup no_draw option was using layers but not restrict view/render
setting. (not a bugfix exactly but would do display list context switching
while drawing for no reason).
* Fix objects instanced on hair particles not giving consistent results
when the object is transformed.
* New math functions: madd_v4_v4fl, len_squared_v3v3, interp_v4_v4v4v4,
mul_v4_m4v4, SH and form factor functions, box_minmax_bounds_m4.
* mul_m4_m4m4 and mul_m3_m3m3 now accept the same pointers for multiple
arguments.
* endjob callback for WM jobs system.
* Geometry node uv/color layer now has search list/autocomplete.
* Various small buildsystem tweaks, not strictly needed yet in trunk.
- IK-Solver interfaces were still converting units from degrees to radians. Made these all use radians now.
- Tried to fix the DOF limits drawing. This is still not totally functional again yet, but at least there are visible lines now.
starting angle in some cases, but wasn't always noticeable due
to the IK solver changing it anyway.
Bugfix for hidden bones in pose mode still being active, and
preventing other bones from becoming active.
==
Solving is now done independent of scale, by scaling the chain to have a
size of about 1.0. This solves some issues with small or big chains, and
also makes the IK stretch setting independent of scale. The latter breaks
backwards compatibility somewhat, but is an improvement over what it did
before.
IK: needed to change abs() to TNT::abs() (thanks brecht!)
Freetype: FT_ENCODING_UNICODE typecast to FT_CharMap (thanks intrr!)
header_image: missing include for liballoc stuff
Ketsji: needed to declare m_hitObject as public in KX_MouseFocusSensor.h.
This is probably the wrong thing to do, but KX_MouseFocusSensor.cpp
compilation fails on line 279 otherwise.
module -- the previous method could be off pretty far.
- Added drawing of transparent surface for it, instead of just the border.
- Added "stretch IK", allowing bones not only to rotate, but also scale.
The "Stretch" value below the DoF buttons is used to enabled this.
- Some code tweaking: slightly simplified computation of transform for IK,
renamed chain to tree, removed unused pchan->ik_mat, ..
Internal IK module work:
- Do damping per DoF also based on stiffness, hopefully makes it converge
faster with very stiff joints.
- Instead of having two joints types (translational and rotational), now
all 6 DoF's can be enabled for one joint.
- Added limits for translational joints.
- Z-axis rotation limits were not working, was using wrong flag.
- Don't allow min limit to go over max, or vice versa.
- Fix for jacobian getting overwritten with IK clamping.
Fix some warnings.
Merge with latest soc code.
What changed in IK lib:
Fully restructured, with components now as follows:
- IK_Solver: C <=> C++ interface
- IK_QSegment: base class for bone/segment with 0
to 3 DOF
- IK_QTask: base class for a task (currently there's
a position and a rotation task)
- IK_QJacobian: the Jacobian matrix, with SVD
decomposition, damping, etc
- IK_QJacobianSolver: the iterative solver
The exponential map parametrization is no longer used,
instead we have now:
- 3DOF and 2DOF XZ segments: directly update matrix
with Rodrigues' formula
- Other: Euler angles (no worries about singularities
here)
Computation of the Jacobian inverse has also changed:
- The SVD algorithm is now based on LAPACK code,
instead of NR, to avoid some problems with rounding
errors.
- When the problem is underconstrained (as is the case
most of the time), the SVD is computed for the transpose
of the Jacobian (faster).
- A new damping algorithm called the Selectively Damped
Least Squares is used, result in faster and more
stable convergence.
- Stiffness is implemented as if a weighted psuedo-inverse
was used.
Tree structure support.
Rotation limits:
- 3DOF and 2DOF XZ segments limits are based on a swing
(direct axis-angle over XZ) and twist/roll (rotation
over Y) decomposition. The swing region is an ellipse
on a sphere.
- Rotation limits are implemented using an inner clamping
loop: as long as there is a violation, a violating DOF
is clamped and removed from the Jacobian, and the solution
is recomputed.
Convergence checking is based now on the max norm of angle
change, or the maximum number of iterations.
Caught from the following warning:
In file included from IK_QChain.h:47,
from IK_QChain.cpp:44:
TNT/cmat.h: In function `void TNT::matmultdiag(TNT::Matrix<T>&, const TNT::Matri
x<T>&, const TNT::Vector<T>&)':
TNT/cmat.h:593: warning: left-hand operand of comma has no effect
Kent
