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blender/intern/iksolver/SConscript

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Added #!/usr/bin/python standard script identifier to the start of SConscript files. Makes text editors identify SConscripts as Python, and syntax highlight properly.
2004-05-16 13:07:20 +00:00
#!/usr/bin/python
SCons updates * 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.
2004-02-15 19:25:32 +00:00
Import ('user_options_dict')
SCons updates * 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.
2004-02-29 21:40:48 +00:00
Import ('library_env')
iksolver_env = library_env.Copy ()
SCons build system files added. 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.
2004-01-04 21:11:59 +00:00
Update SConscript. 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.
2005-08-27 13:45:19 +00:00
source_files = ['intern/IK_QTask.cpp',
SCons build system files added. 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.
2004-01-04 21:11:59 +00:00
'intern/IK_QJacobianSolver.cpp',
'intern/IK_QSegment.cpp',
Update SConscript. 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.
2005-08-27 13:45:19 +00:00
'intern/IK_QJacobian.cpp',
'intern/IK_Solver.cpp']
SCons build system files added. 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.
2004-01-04 21:11:59 +00:00
iksolver_env.Append (CPPPATH = ['intern',
'../moto/include',
'../memutil'])
SCons updates * 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.
2004-02-15 19:25:32 +00:00
iksolver_env.Library (target='#'+user_options_dict['BUILD_DIR']+'/lib/blender_IK', source=source_files)
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