forked from bartvdbraak/blender
Cleanup: don't use Blender structs in iTaSC module.
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9599ed3ba7
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b92d78553b
@ -21,7 +21,7 @@ public:
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int addFrame(const std::string& name, const Frame& frame);
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virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};
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virtual void updateCoordinates(const Timestamp& timestamp) {};
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virtual int addEndEffector(const std::string& name);
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virtual bool finalize();
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virtual const Frame& getPose(const unsigned int frameIndex);
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@ -90,7 +90,7 @@ bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param)
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return true;
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}
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void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)
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void MovingFrame::updateCoordinates(const Timestamp& timestamp)
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{
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// don't compute the velocity during substepping, it is assumed constant.
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if (!timestamp.substep) {
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@ -98,7 +98,7 @@ void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, co
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if (!timestamp.reiterate) {
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cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
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if (m_function)
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(*m_function)(eval_ctx, timestamp, m_internalPose, m_nextPose, m_param);
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(*m_function)(timestamp, m_internalPose, m_nextPose, m_param);
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}
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// only compute velocity if we have a previous pose
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if (cacheAvail && timestamp.interpolate) {
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@ -11,12 +11,10 @@
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#include "UncontrolledObject.hpp"
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#include <vector>
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struct EvaluationContext;
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namespace iTaSC{
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typedef bool (*MovingFrameCallback)(
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const struct EvaluationContext *eval_ctx,
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const Timestamp& timestamp,
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const Frame& _current,
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Frame& _next,
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@ -30,7 +28,7 @@ public:
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bool setFrame(const Frame& frame);
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bool setCallback(MovingFrameCallback _function, void* _param);
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virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp);
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virtual void updateCoordinates(const Timestamp& timestamp);
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virtual void updateKinematics(const Timestamp& timestamp);
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virtual void pushCache(const Timestamp& timestamp);
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virtual void initCache(Cache *_cache);
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@ -257,7 +257,7 @@ bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Fram
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return true;
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}
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bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
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bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
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{
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// we must have valid timestep and timestamp
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if (timestamp < KDL::epsilon || timestep < 0.0)
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@ -316,7 +316,7 @@ bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, d
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}
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}
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if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
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((UncontrolledObject*)(os->object))->updateCoordinates(eval_ctx, ts);
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((UncontrolledObject*)(os->object))->updateCoordinates(ts);
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if (!ts.substep) {
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// velocity of uncontrolled object remains constant during substepping
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project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot();
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@ -39,7 +39,7 @@ public:
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bool addSolver(Solver* _solver);
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bool addCache(Cache* _cache);
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bool initialize();
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bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
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bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
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bool setParam(SceneParam paramId, double value);
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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@ -11,9 +11,6 @@
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#include "eigen_types.hpp"
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#include "Object.hpp"
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struct EvaluationContext;
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namespace iTaSC{
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class UncontrolledObject: public Object {
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@ -29,7 +26,7 @@ public:
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virtual void initialize(unsigned int _nu, unsigned int _nf);
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virtual const e_matrix& getJu(unsigned int frameIndex) const;
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virtual const e_vector& getXudot() const {return m_xudot;}
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virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0;
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virtual void updateCoordinates(const Timestamp& timestamp)=0;
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virtual const unsigned int getNrOfCoordinates(){return m_nu;};
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virtual const unsigned int getNrOfFrames(){return m_nf;};
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@ -16,7 +16,7 @@ public:
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WorldObject();
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virtual ~WorldObject();
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virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};
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virtual void updateCoordinates(const Timestamp& timestamp) {};
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virtual void updateKinematics(const Timestamp& timestamp) {};
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virtual void pushCache(const Timestamp& timestamp) {};
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virtual void initCache(Cache *_cache) {};
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@ -90,6 +90,7 @@ typedef void (*ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned in
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// one structure for each target in the scene
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struct IK_Target {
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const struct EvaluationContext *eval_ctx;
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struct Scene *blscene;
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iTaSC::MovingFrame* target;
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iTaSC::ConstraintSet* constraint;
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@ -107,6 +108,7 @@ struct IK_Target {
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float eeRest[4][4]; //end effector initial pose relative to armature
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IK_Target() {
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eval_ctx = NULL;
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blscene = NULL;
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target = NULL;
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constraint = NULL;
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@ -157,6 +159,7 @@ struct IK_Channel {
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};
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struct IK_Scene {
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const struct EvaluationContext *eval_ctx;
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struct Scene *blscene;
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IK_Scene* next;
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int numchan; // number of channel in pchan
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@ -177,6 +180,7 @@ struct IK_Scene {
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std::vector<IK_Target*> targets;
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IK_Scene() {
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eval_ctx = NULL;
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blscene = NULL;
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next = NULL;
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channels = NULL;
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@ -542,7 +546,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot)
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}
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}
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static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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{
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IK_Target *target = (IK_Target *)param;
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// compute next target position
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@ -550,7 +554,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
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bConstraint *constraint = (bConstraint *)target->blenderConstraint;
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float tarmat[4][4];
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BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
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BKE_constraint_target_matrix_get(target->eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
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// rootmat contains the target pose in world coordinate
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// if enforce is != 1.0, blend the target position with the end effector position
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@ -577,7 +581,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
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return true;
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}
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static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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{
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IK_Scene *ikscene = (IK_Scene *)param;
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// compute next armature base pose
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@ -619,7 +623,7 @@ static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC:
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IK_Channel &rootchan = ikscene->channels[0];
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// get polar target matrix in world space
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BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
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BKE_constraint_target_matrix_get(ikscene->eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
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// convert to armature space
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mul_m4_m4m4(polemat, imat, mat);
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// get the target in world space (was computed before as target object are defined before base object)
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@ -1082,6 +1086,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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ikscene = new IK_Scene;
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ikscene->blscene = blscene;
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ikscene->eval_ctx = eval_ctx;
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arm = new iTaSC::Armature();
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scene = new iTaSC::Scene();
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ikscene->channels = new IK_Channel[tree->totchannel];
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@ -1397,7 +1402,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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// we can now add the armature
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// the armature is based on a moving frame.
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// initialize with the correct position in case there is no cache
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base_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
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base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
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ikscene->base = new iTaSC::MovingFrame(initPose);
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ikscene->base->setCallback(base_callback, ikscene);
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std::string armname;
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@ -1439,6 +1444,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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for (t = 0; t < ikscene->targets.size(); t++) {
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IK_Target *iktarget = ikscene->targets[t];
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iktarget->blscene = blscene;
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iktarget->eval_ctx = eval_ctx;
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condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
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pchan = tree->pchan[iktarget->channel];
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unsigned int controltype, bonecnt;
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@ -1458,7 +1464,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat);
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iktarget->eeBlend = (!ikscene->polarConstraint && condata->type == CONSTRAINT_IK_COPYPOSE) ? true : false;
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// use target_callback to make sure the initPose includes enforce coefficient
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target_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
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target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
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iktarget->target = new iTaSC::MovingFrame(initPose);
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iktarget->target->setCallback(target_callback, iktarget);
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ret = scene->addObject(iktarget->targetName, iktarget->target);
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@ -1647,7 +1653,7 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
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}
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}
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// don't cache if we are reiterating because we don't want to destroy the cache unnecessarily
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ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation);
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ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation);
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if (reiterate) {
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// how many times do we reiterate?
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for (i = 0; i < ikparam->numiter; i++) {
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@ -1656,11 +1662,11 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
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{
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break;
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}
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ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation);
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ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation);
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}
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if (simulation) {
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// one more fake iteration to cache
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ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true);
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ikscene->scene->update(timestamp, 0.0, 1, true, true, true);
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}
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}
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// compute constraint error
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