sigonasr2/jmonkeyengine
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Improvement: Inverse Kinematics now breaks the iteration if the computed

Browse Source 
angle change drops below some minimal level.
This commit is contained in:
jmekaelthas 2015-06-28 15:11:04 +02:00
parent 4992eba850
commit 483156f2ba
1 changed files with 13 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java
View File

@ -26,6 +26,7 @@ import com.jme3.scene.plugins.blender.math.Vector3d;
*/
public class ConstraintDefinitionIK extends ConstraintDefinition {
private static final float MIN_DISTANCE = 0.001f;
private static final float MIN_ANGLE_CHANGE = 0.001f;
private static final int FLAG_USE_TAIL = 0x01;
private static final int FLAG_POSITION = 0x20;
@ -117,7 +118,9 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
Matrix J_1 = J.pseudoinverse();
SimpleMatrix deltaThetas = J_1.mult(deltaP);
if (deltaThetas.elementMaxAbs() < MIN_ANGLE_CHANGE) {
break;
}
for (int j = 0; j < deltaThetas.numRows(); ++j) {
double angle = deltaThetas.get(j, 0);
Vector3d rotationVector = rotationVectors[j];