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.
* Blender static now links. By default this option is disabled on all
platforms. Simply set the option in config.opts to 'true'.
* Added the following flags to config.opts:
- HOST_CC. This is the C compiler for the host platform. This value is the
same as TARGET_CC when not cross compiling.
- HOST_CXX. This is the C++ compiler for the host platform. This value is
the same as TARGET_CXX when not cross compiling.
- TARGET_CC. This is the C compiler for the target platform.
- TARGET_CXX. This is the C++ compiler for the target platform.
- TARGET_AR. This is the linker command for linking libraries.
- PATH This is the standard search path
All SConscript files have been updated to reflect these changes. Now it's
possible to change only the root SConstruct file, and all compiler specific
variables are passed automatically to all SConscript files. Of course, this
does not apply to makesdna because there the host and target platform is
different from all other libraries.
To pass a variable that applies to all platforms, all we now have to do is
set the correct value in library_env
Note: as usual, to get the latest options in the config.opts file, first
remove your version.
* libraries are now generated in [BUILD_DIR]/lib
* passed the user_options to all libraries now.
This means I could remove a couple of Export/Import lines.
* Changed the order in source/blender/src/SConscript and
source/gameengine/SConscript.
All libraries are now sorted alphabetically. This has no impact on the build
process.
You'll need SCons (www.scons.org) to build.
Platforms currently working:
* Linux (me)
- options for quicktime, openal and international disabled
- uses the system libs and include files for building - no option to build
with the precompiled libraries yet.
* Windows (jesterKing)
- builds with quicktime (optional)
- builds with openal (optional)
- builds with international support (optional)
- Use the DOS box to build
- builds with precompiled libraries
* Irix (Hos)
- Uses default Irix compiler
- Not all optimization levels correct yet
- options for quicktime, openal and international disabled
- builds with precompiled libraries
* Cygwin (me)
- has a problem in the linking stage
- uses free build tools (gcc)
- options for quicktime, openal and international disabled
- uses the system libs and include files for building - no option to build
with the precompiled libraries yet.
* MacOS (sgefant)
- builds with quicktime (optional)
- options for openal and international disabled
- builds a nice bundle
- builds with precompiled libraries
Thanks to IanWill for a bugfix in the Linux build.
Note: This is a work in progress. A lot still has to be done - for example the
optional parts are only to be enabled by directly setting 'true' or
'false' in the SConstruct file. This needs to be moved to a user config
file. Also, the .o/.obj files are stored in the source tree. This needs
to be fixed as well.
The game engine is not yet built.
