Cleanup: typos & co in UI messages (and some other places).

master
Bastien Montagne 4 years ago
parent 164f40c50a
commit 701a9d3917

@ -87,7 +87,7 @@ ccl_device_inline int fast_rint(float x)
/* Single roundps instruction on SSE4.1+ (for gcc/clang at least). */
return float_to_int(rintf(x));
#else
/* emulate rounding by adding/substracting 0.5. */
/* emulate rounding by adding/subtracting 0.5. */
return float_to_int(x + copysignf(0.5f, x));
#endif
}

@ -16,16 +16,19 @@
namespace iTaSC {
class SceneLock : public ControlledObject::JointLockCallback {
private:
Scene* m_scene;
private:
Scene *m_scene;
Range m_qrange;
public:
SceneLock(Scene* scene) :
m_scene(scene), m_qrange(0,0) {}
virtual ~SceneLock() {}
public:
SceneLock(Scene *scene) : m_scene(scene), m_qrange(0, 0)
{
}
virtual ~SceneLock()
{
}
void setRange(Range& range)
void setRange(Range &range)
{
m_qrange = range;
}
@ -36,24 +39,44 @@ public:
project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero();
}
// lock a joint and update output in view of reiteration
virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot)
virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double *qdot)
{
q_nr += m_qrange.start;
project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero();
// update the output vector so that the movement of this joint will be
// taken into account and we can put the joint back in its initial position
// which means that the jacobian doesn't need to be changed
for (unsigned int i=0 ;i<ndof ; ++i, ++q_nr) {
m_scene->m_ydot -= m_scene->m_A.col(q_nr)*qdot[i];
for (unsigned int i = 0; i < ndof; ++i, ++q_nr) {
m_scene->m_ydot -= m_scene->m_A.col(q_nr) * qdot[i];
}
}
};
Scene::Scene():
m_A(), m_B(), m_Atemp(), m_Wq(), m_Jf(), m_Jq(), m_Ju(), m_Cf(), m_Cq(), m_Jf_inv(),
m_Vf(),m_Uf(), m_Wy(), m_ydot(), m_qdot(), m_xdot(), m_Sf(),m_tempf(),
m_ncTotal(0),m_nqTotal(0),m_nuTotal(0),m_nsets(0),
m_solver(NULL),m_cache(NULL)
Scene::Scene()
: m_A(),
m_B(),
m_Atemp(),
m_Wq(),
m_Jf(),
m_Jq(),
m_Ju(),
m_Cf(),
m_Cq(),
m_Jf_inv(),
m_Vf(),
m_Uf(),
m_Wy(),
m_ydot(),
m_qdot(),
m_xdot(),
m_Sf(),
m_tempf(),
m_ncTotal(0),
m_nqTotal(0),
m_nuTotal(0),
m_nsets(0),
m_solver(NULL),
m_cache(NULL)
{
m_minstep = 0.01;
m_maxstep = 0.06;
@ -88,13 +111,16 @@ bool Scene::setParam(SceneParam paramId, double value)
return true;
}
bool Scene::addObject(const std::string& name, Object* object, UncontrolledObject* base, const std::string& baseFrame)
bool Scene::addObject(const std::string &name,
Object *object,
UncontrolledObject *base,
const std::string &baseFrame)
{
// finalize the object before adding
if (!object->finalize())
return false;
//Check if Object is controlled or uncontrolled.
if(object->getType()==Object::Controlled){
// Check if Object is controlled or uncontrolled.
if (object->getType() == Object::Controlled) {
int baseFrameIndex = base->addEndEffector(baseFrame);
if (baseFrameIndex < 0)
return false;
@ -102,162 +128,193 @@ bool Scene::addObject(const std::string& name, Object* object, UncontrolledObjec
if (base->getNrOfCoordinates() == 0) {
// base is fixed object, no coordinate range
result = objects.insert(ObjectMap::value_type(
name, new Object_struct(object,base,baseFrameIndex,
Range(m_nqTotal,object->getNrOfCoordinates()),
Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()),
Range(0,0))));
} else {
name,
new Object_struct(object,
base,
baseFrameIndex,
Range(m_nqTotal, object->getNrOfCoordinates()),
Range(m_ncTotal, ((ControlledObject *)object)->getNrOfConstraints()),
Range(0, 0))));
}
else {
// base is a moving object, must be in list already
ObjectMap::iterator base_it;
for (base_it=objects.begin(); base_it != objects.end(); base_it++) {
for (base_it = objects.begin(); base_it != objects.end(); base_it++) {
if (base_it->second->object == base)
break;
}
if (base_it == objects.end())
return false;
result = objects.insert(ObjectMap::value_type(
name, new Object_struct(object,base,baseFrameIndex,
Range(m_nqTotal,object->getNrOfCoordinates()),
Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()),
name,
new Object_struct(object,
base,
baseFrameIndex,
Range(m_nqTotal, object->getNrOfCoordinates()),
Range(m_ncTotal, ((ControlledObject *)object)->getNrOfConstraints()),
base_it->second->coordinaterange)));
}
if (!result.second) {
return false;
}
m_nqTotal+=object->getNrOfCoordinates();
m_ncTotal+=((ControlledObject*)object)->getNrOfConstraints();
m_nqTotal += object->getNrOfCoordinates();
m_ncTotal += ((ControlledObject *)object)->getNrOfConstraints();
return true;
}
if(object->getType()==Object::UnControlled){
if ((WorldObject*)base != &Object::world)
if (object->getType() == Object::UnControlled) {
if ((WorldObject *)base != &Object::world)
return false;
std::pair<ObjectMap::iterator,bool> result = objects.insert(ObjectMap::value_type(
name,new Object_struct(object,base,0,
Range(0,0),
Range(0,0),
Range(m_nuTotal,object->getNrOfCoordinates()))));
if(!result.second)
std::pair<ObjectMap::iterator, bool> result = objects.insert(
ObjectMap::value_type(name,
new Object_struct(object,
base,
0,
Range(0, 0),
Range(0, 0),
Range(m_nuTotal, object->getNrOfCoordinates()))));
if (!result.second)
return false;
m_nuTotal+=object->getNrOfCoordinates();
m_nuTotal += object->getNrOfCoordinates();
return true;
}
return false;
}
bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const std::string& object1,const std::string& object2, const std::string& ee1, const std::string& ee2)
bool Scene::addConstraintSet(const std::string &name,
ConstraintSet *task,
const std::string &object1,
const std::string &object2,
const std::string &ee1,
const std::string &ee2)
{
//Check if objects exist:
// Check if objects exist:
ObjectMap::iterator object1_it = objects.find(object1);
ObjectMap::iterator object2_it = objects.find(object2);
if(object1_it==objects.end()||object2_it==objects.end())
if (object1_it == objects.end() || object2_it == objects.end())
return false;
int ee1_index = object1_it->second->object->addEndEffector(ee1);
int ee2_index = object2_it->second->object->addEndEffector(ee2);
if (ee1_index < 0 || ee2_index < 0)
return false;
std::pair<ConstraintMap::iterator,bool> result =
constraints.insert(ConstraintMap::value_type(name,new ConstraintSet_struct(
task,object1_it,ee1_index,object2_it,ee2_index,
Range(m_ncTotal,task->getNrOfConstraints()),Range(6*m_nsets,6))));
if(!result.second)
std::pair<ConstraintMap::iterator, bool> result = constraints.insert(ConstraintMap::value_type(
name,
new ConstraintSet_struct(task,
object1_it,
ee1_index,
object2_it,
ee2_index,
Range(m_ncTotal, task->getNrOfConstraints()),
Range(6 * m_nsets, 6))));
if (!result.second)
return false;
m_ncTotal+=task->getNrOfConstraints();
m_nsets+=1;
m_ncTotal += task->getNrOfConstraints();
m_nsets += 1;
return true;
}
bool Scene::addSolver(Solver* _solver){
if(m_solver==NULL){
m_solver=_solver;
bool Scene::addSolver(Solver *_solver)
{
if (m_solver == NULL) {
m_solver = _solver;
return true;
}
else
return false;
}
bool Scene::addCache(Cache* _cache){
if(m_cache==NULL){
m_cache=_cache;
bool Scene::addCache(Cache *_cache)
{
if (m_cache == NULL) {
m_cache = _cache;
return true;
}
else
return false;
}
bool Scene::initialize(){
bool Scene::initialize()
{
//prepare all matrices:
// prepare all matrices:
if (m_ncTotal == 0 || m_nqTotal == 0 || m_nsets == 0)
return false;
m_A = e_zero_matrix(m_ncTotal,m_nqTotal);
m_A = e_zero_matrix(m_ncTotal, m_nqTotal);
if (m_nuTotal > 0) {
m_B = e_zero_matrix(m_ncTotal,m_nuTotal);
m_B = e_zero_matrix(m_ncTotal, m_nuTotal);
m_xdot = e_zero_vector(m_nuTotal);
m_Ju = e_zero_matrix(6*m_nsets,m_nuTotal);
m_Ju = e_zero_matrix(6 * m_nsets, m_nuTotal);
}
m_Atemp = e_zero_matrix(m_ncTotal,6*m_nsets);
m_Atemp = e_zero_matrix(m_ncTotal, 6 * m_nsets);
m_ydot = e_zero_vector(m_ncTotal);
m_qdot = e_zero_vector(m_nqTotal);
m_Wq = e_zero_matrix(m_nqTotal,m_nqTotal);
m_Wq = e_zero_matrix(m_nqTotal, m_nqTotal);
m_Wy = e_zero_vector(m_ncTotal);
m_Jq = e_zero_matrix(6*m_nsets,m_nqTotal);
m_Jf = e_zero_matrix(6*m_nsets,6*m_nsets);
m_Jq = e_zero_matrix(6 * m_nsets, m_nqTotal);
m_Jf = e_zero_matrix(6 * m_nsets, 6 * m_nsets);
m_Jf_inv = m_Jf;
m_Cf = e_zero_matrix(m_ncTotal,m_Jf.rows());
m_Cq = e_zero_matrix(m_ncTotal,m_nqTotal);
m_Cf = e_zero_matrix(m_ncTotal, m_Jf.rows());
m_Cq = e_zero_matrix(m_ncTotal, m_nqTotal);
bool result=true;
bool result = true;
// finalize all objects
for (ObjectMap::iterator it=objects.begin(); it!=objects.end(); ++it) {
Object_struct* os = it->second;
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
Object_struct *os = it->second;
os->object->initCache(m_cache);
if (os->constraintrange.count > 0)
project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq());
project(m_Cq,
os->constraintrange,
os->jointrange) = (((ControlledObject *)(os->object))->getCq());
}
m_ytask.resize(m_ncTotal);
bool toggle=true;
bool toggle = true;
int cnt = 0;
//Initialize all ConstraintSets:
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
//Calculate the external pose:
ConstraintSet_struct* cs = it->second;
// Initialize all ConstraintSets:
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
// Calculate the external pose:
ConstraintSet_struct *cs = it->second;
Frame external_pose;
getConstraintPose(cs->task, cs, external_pose);
result&=cs->task->initialise(external_pose);
result &= cs->task->initialise(external_pose);
cs->task->initCache(m_cache);
for (int i=0; i<cs->constraintrange.count; i++, cnt++) {
for (int i = 0; i < cs->constraintrange.count; i++, cnt++) {
m_ytask[cnt] = toggle;
}
toggle = !toggle;
project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf();
project(m_Cf, cs->constraintrange, cs->featurerange) = cs->task->getCf();
}
if(m_solver!=NULL)
m_solver->init(m_nqTotal,m_ncTotal,m_ytask);
if (m_solver != NULL)
m_solver->init(m_nqTotal, m_ncTotal, m_ytask);
else
return false;
return result;
}
bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Frame& _pose)
bool Scene::getConstraintPose(ConstraintSet *constraint, void *_param, KDL::Frame &_pose)
{
// function called from constraint when they need to get the external pose
ConstraintSet_struct* cs = (ConstraintSet_struct*)_param;
ConstraintSet_struct *cs = (ConstraintSet_struct *)_param;
// verification, the pointer MUST match
assert (constraint == cs->task);
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
//Calculate the external pose:
_pose=(ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index)).Inverse()*(ob2->base->getPose(ob2->baseFrameIndex)*ob2->object->getPose(cs->ee2index));
assert(constraint == cs->task);
Object_struct *ob1 = cs->object1->second;
Object_struct *ob2 = cs->object2->second;
// Calculate the external pose:
_pose =
(ob1->base->getPose(ob1->baseFrameIndex) * ob1->object->getPose(cs->ee1index)).Inverse() *
(ob2->base->getPose(ob2->baseFrameIndex) * ob2->object->getPose(cs->ee2index));
return true;
}
bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
bool Scene::update(double timestamp,
double timestep,
unsigned int numsubstep,
bool reiterate,
bool cache,
bool interpolate)
{
// we must have valid timestep and timestamp
if (timestamp < KDL::epsilon || timestep < 0.0)
@ -269,7 +326,8 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
setCacheTimestamp(ts);
ts.substep = 0;
// for reiteration don't load cache
// reiteration=additional iteration with same timestamp if application finds the convergence not good enough
// reiteration=additional iteration with same timestamp if application finds the convergence not
// good enough
ts.reiterate = (reiterate) ? 1 : 0;
ts.interpolate = (interpolate) ? 1 : 0;
ts.cache = (cache) ? 1 : 0;
@ -278,16 +336,16 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
bool autosubstep = (numsubstep == 0) ? true : false;
if (numsubstep < 1)
numsubstep = 1;
double timesubstep = timestep/numsubstep;
double timesubstep = timestep / numsubstep;
double timeleft = timestep;
if (timeleft == 0.0) {
// this special case correspond to a request to cache data
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
it->second->object->pushCache(ts);
}
//Update the Constraints
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
// Update the Constraints
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
it->second->task->pushCache(ts);
}
return true;
@ -302,150 +360,180 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
// initially we keep timestep unchanged so that update function compute the velocity over
while (numsubstep > 0) {
// get objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) {
Object_struct* os = it->second;
if (os->object->getType()==Object::Controlled) {
((ControlledObject*)(os->object))->updateControlOutput(ts);
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
Object_struct *os = it->second;
if (os->object->getType() == Object::Controlled) {
((ControlledObject *)(os->object))->updateControlOutput(ts);
if (os->constraintrange.count > 0) {
project(m_ydot, os->constraintrange) = ((ControlledObject*)(os->object))->getControlOutput();
project(m_Wy, os->constraintrange) = ((ControlledObject*)(os->object))->getWy();
// project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq());
project(m_ydot,
os->constraintrange) = ((ControlledObject *)(os->object))->getControlOutput();
project(m_Wy, os->constraintrange) = ((ControlledObject *)(os->object))->getWy();
// project(m_Cq,os->constraintrange,os->jointrange) =
// (((ControlledObject*)(os->object))->getCq());
}
if (os->jointrange.count > 0) {
project(m_Wq,os->jointrange,os->jointrange) = ((ControlledObject*)(os->object))->getWq();
project(
m_Wq, os->jointrange, os->jointrange) = ((ControlledObject *)(os->object))->getWq();
}
}
if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
((UncontrolledObject*)(os->object))->updateCoordinates(ts);
if (os->object->getType() == Object::UnControlled &&
((UncontrolledObject *)os->object)->getNrOfCoordinates() != 0) {
((UncontrolledObject *)(os->object))->updateCoordinates(ts);
if (!ts.substep) {
// velocity of uncontrolled object remains constant during substepping
project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot();
project(m_xdot, os->coordinaterange) = ((UncontrolledObject *)(os->object))->getXudot();
}
}
}
//get new Constraints values
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it) {
ConstraintSet_struct* cs = it->second;
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
// get new Constraints values
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
ConstraintSet_struct *cs = it->second;
Object_struct *ob1 = cs->object1->second;
Object_struct *ob2 = cs->object2->second;
if (ob1->base->updated() || ob1->object->updated() || ob2->base->updated() || ob2->object->updated()) {
if (ob1->base->updated() || ob1->object->updated() || ob2->base->updated() ||
ob2->object->updated()) {
// the object from which the constraint depends have changed position
// recompute the constraint pose
getConstraintPose(cs->task, cs, external_pose);
cs->task->initialise(external_pose);
}
cs->task->updateControlOutput(ts);
project(m_ydot,cs->constraintrange)=cs->task->getControlOutput();
project(m_ydot, cs->constraintrange) = cs->task->getControlOutput();
if (!ts.substep || cs->task->substep()) {
project(m_Wy,cs->constraintrange)=(cs->task)->getWy();
//project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf();
}
project(m_Jf,cs->featurerange,cs->featurerange)=cs->task->getJf();
//std::cout << "Jf = " << Jf << std::endl;
//Transform the reference frame of this jacobian to the world reference frame
Eigen::Block<e_matrix> Jf_part = project(m_Jf,cs->featurerange,cs->featurerange);
changeBase(Jf_part,ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index));
//std::cout << "Jf_w = " << Jf << std::endl;
//calculate the inverse of Jf
KDL::svd_eigen_HH(project(m_Jf,cs->featurerange,cs->featurerange),m_Uf,m_Sf,m_Vf,m_tempf);
for(unsigned int i=0;i<6;++i)
if(m_Sf(i)<KDL::epsilon)
project(m_Wy, cs->constraintrange) = (cs->task)->getWy();
// project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf();
}
project(m_Jf, cs->featurerange, cs->featurerange) = cs->task->getJf();
// std::cout << "Jf = " << Jf << std::endl;
// Transform the reference frame of this jacobian to the world reference frame
Eigen::Block<e_matrix> Jf_part = project(m_Jf, cs->featurerange, cs->featurerange);
changeBase(Jf_part,
ob1->base->getPose(ob1->baseFrameIndex) * ob1->object->getPose(cs->ee1index));
// std::cout << "Jf_w = " << Jf << std::endl;
// calculate the inverse of Jf
KDL::svd_eigen_HH(
project(m_Jf, cs->featurerange, cs->featurerange), m_Uf, m_Sf, m_Vf, m_tempf);
for (unsigned int i = 0; i < 6; ++i)
if (m_Sf(i) < KDL::epsilon)
m_Uf.col(i).setConstant(0.0);
else
m_Uf.col(i)*=(1/m_Sf(i));
project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose();
//Get the robotjacobian associated with this constraintset
//Each jacobian is expressed in robot base frame => convert to world reference
//and negate second robot because it is taken reversed when closing the loop:
if(ob1->object->getType()==Object::Controlled){
project(m_Jq,cs->featurerange,ob1->jointrange) = (((ControlledObject*)(ob1->object))->getJq(cs->ee1index));
//Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob1->jointrange);
changeBase(Jq_part,ob1->base->getPose(ob1->baseFrameIndex));
m_Uf.col(i) *= (1 / m_Sf(i));
project(m_Jf_inv, cs->featurerange, cs->featurerange).noalias() = m_Vf * m_Uf.transpose();
// Get the robotjacobian associated with this constraintset
// Each jacobian is expressed in robot base frame => convert to world reference
// and negate second robot because it is taken reversed when closing the loop:
if (ob1->object->getType() == Object::Controlled) {
project(m_Jq,
cs->featurerange,
ob1->jointrange) = (((ControlledObject *)(ob1->object))->getJq(cs->ee1index));
// Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq, cs->featurerange, ob1->jointrange);
changeBase(Jq_part, ob1->base->getPose(ob1->baseFrameIndex));
// if the base of this object is moving, get the Ju part
if (ob1->base->getNrOfCoordinates() != 0) {
// Ju is already computed for world reference frame
project(m_Ju,cs->featurerange,ob1->coordinaterange)=ob1->base->getJu(ob1->baseFrameIndex);
project(m_Ju, cs->featurerange, ob1->coordinaterange) = ob1->base->getJu(
ob1->baseFrameIndex);
}
} else if (ob1->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob1->object)->getNrOfCoordinates() != 0) {
// object1 is uncontrolled moving object
project(m_Ju,cs->featurerange,ob1->coordinaterange)=((UncontrolledObject*)ob1->object)->getJu(cs->ee1index);
}
if(ob2->object->getType()==Object::Controlled){
//Get the robotjacobian associated with this constraintset
// process a special case where object2 and object1 are equal but using different end effector
else if (ob1->object->getType() == Object::UnControlled &&
((UncontrolledObject *)ob1->object)->getNrOfCoordinates() != 0) {
// object1 is uncontrolled moving object
project(m_Ju,
cs->featurerange,
ob1->coordinaterange) = ((UncontrolledObject *)ob1->object)->getJu(cs->ee1index);
}
if (ob2->object->getType() == Object::Controlled) {
// Get the robotjacobian associated with this constraintset
// process a special case where object2 and object1 are equal but using different end
// effector
if (ob1->object == ob2->object) {
// we must create a temporary matrix
e_matrix JqTemp(((ControlledObject*)(ob2->object))->getJq(cs->ee2index));
//Transform the reference frame of this jacobian to the world reference frame:
changeBase(JqTemp,ob2->base->getPose(ob2->baseFrameIndex));
// substract in place
project(m_Jq,cs->featurerange,ob2->jointrange) -= JqTemp;
} else {
project(m_Jq,cs->featurerange,ob2->jointrange) = -(((ControlledObject*)(ob2->object))->getJq(cs->ee2index));
//Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob2->jointrange);
changeBase(Jq_part,ob2->base->getPose(ob2->baseFrameIndex));
e_matrix JqTemp(((ControlledObject *)(ob2->object))->getJq(cs->ee2index));
// Transform the reference frame of this jacobian to the world reference frame:
changeBase(JqTemp, ob2->base->getPose(ob2->baseFrameIndex));
// subtract in place
project(m_Jq, cs->featurerange, ob2->jointrange) -= JqTemp;
}
else {
project(m_Jq, cs->featurerange, ob2->jointrange) = -(
((ControlledObject *)(ob2->object))->getJq(cs->ee2index));
// Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq, cs->featurerange, ob2->jointrange);
changeBase(Jq_part, ob2->base->getPose(ob2->baseFrameIndex));
}
if (ob2->base->getNrOfCoordinates() != 0) {
// if base is the same as first object or first object base,
// that portion of m_Ju has been set already => substract inplace
// that portion of m_Ju has been set already => subtract inplace
if (ob2->base == ob1->base || ob2->base == ob1->object) {
project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ob2->base->getJu(ob2->baseFrameIndex);
} else {
project(m_Ju,cs->featurerange,ob2->coordinaterange) = -ob2->base->getJu(ob2->baseFrameIndex);
project(m_Ju, cs->featurerange, ob2->coordinaterange) -= ob2->base->getJu(
ob2->baseFrameIndex);
}
else {
project(m_Ju, cs->featurerange, ob2->coordinaterange) = -ob2->base->getJu(
ob2->baseFrameIndex);
}
}
}
} else if (ob2->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob2->object)->getNrOfCoordinates() != 0) {
else if (ob2->object->getType() == Object::UnControlled &&
((UncontrolledObject *)ob2->object)->getNrOfCoordinates() != 0) {
if (ob2->object == ob1->base || ob2->object == ob1->object) {
project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ((UncontrolledObject*)ob2->object)->getJu(cs->ee2index);
} else {
project(m_Ju,cs->featurerange,ob2->coordinaterange) = -((UncontrolledObject*)ob2->object)->getJu(cs->ee2index);
project(m_Ju, cs->featurerange, ob2->coordinaterange) -=
((UncontrolledObject *)ob2->object)->getJu(cs->ee2index);
}
else {
project(m_Ju, cs->featurerange, ob2->coordinaterange) =
-((UncontrolledObject *)ob2->object)->getJu(cs->ee2index);
}
}
}
//Calculate A
m_Atemp.noalias()=m_Cf*m_Jf_inv;
m_A.noalias() = m_Cq-(m_Atemp*m_Jq);
// Calculate A
m_Atemp.noalias() = m_Cf * m_Jf_inv;
m_A.noalias() = m_Cq - (m_Atemp * m_Jq);
if (m_nuTotal > 0) {
m_B.noalias()=m_Atemp*m_Ju;
m_ydot.noalias() += m_B*m_xdot;
m_B.noalias() = m_Atemp * m_Ju;
m_ydot.noalias() += m_B * m_xdot;
}
//Call the solver with A, Wq, Wy, ydot to solver qdot:
if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef))
// Call the solver with A, Wq, Wy, ydot to solver qdot:
if (!m_solver->solve(m_A, m_Wy, m_ydot, m_Wq, m_qdot, nlcoef))
// this should never happen
return false;
//send result to the objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) {
Object_struct* os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange));
// send result to the objects
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
Object_struct *os = it->second;
if (os->object->getType() == Object::Controlled)
((ControlledObject *)(os->object))->setJointVelocity(project(m_qdot, os->jointrange));
}
// compute the constraint velocity
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
//Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
ConstraintSet_struct *cs = it->second;
Object_struct *ob1 = cs->object1->second;
Object_struct *ob2 = cs->object2->second;
// Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
e_vector6 external_vel = e_zero_vector(6);
if (ob1->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange));
external_vel.noalias() += (project(m_Jq, cs->featurerange, ob1->jointrange) *
project(m_qdot, ob1->jointrange));
if (ob2->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange));
external_vel.noalias() += (project(m_Jq, cs->featurerange, ob2->jointrange) *
project(m_qdot, ob2->jointrange));
if (ob1->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange));
external_vel.noalias() += (project(m_Ju, cs->featurerange, ob1->coordinaterange) *
project(m_xdot, ob1->coordinaterange));
if (ob2->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange));
//the twist caused by the constraint must be opposite because of the closed loop
//estimate the velocity of the joints using the inverse jacobian
e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);
external_vel.noalias() += (project(m_Ju, cs->featurerange, ob2->coordinaterange) *
project(m_xdot, ob2->coordinaterange));
// the twist caused by the constraint must be opposite because of the closed loop
// estimate the velocity of the joints using the inverse jacobian
e_vector6 estimated_chidot = project(m_Jf_inv, cs->featurerange, cs->featurerange) *
(-external_vel);
cs->task->setJointVelocity(estimated_chidot);
}
@ -456,37 +544,40 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
timesubstep = timeleft;
// get armature max joint velocity to estimate the maximum duration of integration
// maxqdot = m_qdot.cwise().abs().maxCoeff(); // UNUSED
double maxsubstep = nlcoef*m_maxstep;
double maxsubstep = nlcoef * m_maxstep;
if (maxsubstep < m_minstep)
maxsubstep = m_minstep;
if (timesubstep > maxsubstep)
timesubstep = maxsubstep;
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
Object_struct* os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->getMaxTimestep(timesubstep);
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
Object_struct *os = it->second;
if (os->object->getType() == Object::Controlled)
((ControlledObject *)(os->object))->getMaxTimestep(timesubstep);
}
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
ConstraintSet_struct *cs = it->second;
cs->task->getMaxTimestep(timesubstep);
}
// use substep that are even dividers of timestep for more regularity
maxsubstep = 2.0*floor(timestep/2.0/timesubstep-0.66666);
timesubstep = (maxsubstep < 0.0) ? timestep : timestep/(2.0+maxsubstep);
if (timesubstep >= timeleft-(m_minstep/2.0)) {
maxsubstep = 2.0 * floor(timestep / 2.0 / timesubstep - 0.66666);
timesubstep = (maxsubstep < 0.0) ? timestep : timestep / (2.0 + maxsubstep);
if (timesubstep >= timeleft - (m_minstep / 2.0)) {
timesubstep = timeleft;
numsubstep = 1;
timeleft = 0.;
} else {
}
else {
numsubstep = 2;
timeleft -= timesubstep;
}
}
if (numsubstep > 1) {
ts.substep = 1;
} else {
}
else {
// set substep to false for last iteration so that controlled output
// can be updated in updateKinematics() and model_update)() before next call to Secne::update()
// can be updated in updateKinematics() and model_update)() before next call to
// Secne::update()
ts.substep = 0;
}
// change timestep so that integration is done correctly
@ -494,13 +585,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
do {
ObjectMap::iterator it;
Object_struct* os;
Object_struct *os;
locked = false;
for(it=objects.begin();it!=objects.end();++it){
for (it = objects.begin(); it != objects.end(); ++it) {
os = it->second;
if (os->object->getType()==Object::Controlled) {
if (os->object->getType() == Object::Controlled) {
lockCallback.setRange(os->jointrange);
if (((ControlledObject*)os->object)->updateJoint(ts, lockCallback)) {
if (((ControlledObject *)os->object)->updateJoint(ts, lockCallback)) {
// this means one of the joint was locked and we must rerun
// the solver to update the remaining joints
locked = true;
@ -510,32 +601,32 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
}
if (locked) {
// Some rows of m_Wq have been cleared so that the corresponding joint will not move
if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef))
if (!m_solver->solve(m_A, m_Wy, m_ydot, m_Wq, m_qdot, nlcoef))
// this should never happen
return false;
//send result to the objects
for(it=objects.begin();it!=objects.end();++it) {
// send result to the objects
for (it = objects.begin(); it != objects.end(); ++it) {
os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange));
if (os->object->getType() == Object::Controlled)
((ControlledObject *)(os->object))->setJointVelocity(project(m_qdot, os->jointrange));
}
}
} while (locked);
//Update the Objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
// Update the Objects
for (ObjectMap::iterator it = objects.begin(); it != objects.end(); ++it) {
it->second->object->updateKinematics(ts);
// mark this object not updated since the constraint will be updated anyway
// this flag is only useful to detect external updates
it->second->object->updated(false);
}
//Update the Constraints
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
//Calculate the external pose:
// Update the Constraints
for (ConstraintMap::iterator it = constraints.begin(); it != constraints.end(); ++it) {
ConstraintSet_struct *cs = it->second;
// Calculate the external pose:
getConstraintPose(cs->task, cs, external_pose);
cs->task->modelUpdate(external_pose,ts);
cs->task->modelUpdate(external_pose, ts);
// update the constraint output and cache
cs->task->updateKinematics(ts);
}
@ -544,4 +635,4 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
return true;
}
}
} // namespace iTaSC

@ -72,7 +72,7 @@ class SpellChecker:
"wasn", # wasn't
# Merged words
"antialiasing",
"antialiasing", "antialias",
"arcsine", "arccosine", "arctangent",
"autoclip",
"autocomplete",
@ -241,7 +241,7 @@ class SpellChecker:
"unsets",
"unshadowed",
"unspill",
"unstitchable",
"unstitchable", "unstitch",
"unsubdivided", "unsubdivide",
"untrusted",
"vectorscope",
@ -421,6 +421,7 @@ class SpellChecker:
"searchable",
"spacebar",
"subtractive",
"superellipse",
"tooltip", "tooltips",
"trackpad",
"tuple",
@ -618,6 +619,7 @@ class SpellChecker:
"musgrave",
"nayar",
"netravali",
"nishita",
"ogawa",
"oren",
"peucker", # Ramer-Douglas-Peucker

@ -217,7 +217,7 @@ typedef struct ParticleCollision {
/** Collision modifier for current object. */
struct CollisionModifierData *md;
/** Time factor of previous collision, needed for substracting face velocity. */
/** Time factor of previous collision, needed for subtracting face velocity. */
float f;
float fac1, fac2;

@ -503,7 +503,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.4f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->input_samples = 10;
brush->gpencil_settings->active_smooth = ACTIVE_SMOOTH;
@ -686,7 +686,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag &= ~GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 1.0f;
brush->gpencil_settings->flag &= ~GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag &= ~GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->input_samples = 10;
brush->gpencil_settings->active_smooth = ACTIVE_SMOOTH;
@ -717,7 +717,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.4f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->input_samples = 10;
brush->gpencil_settings->active_smooth = ACTIVE_SMOOTH;
@ -760,7 +760,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.6f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->input_samples = 10;
brush->gpencil_settings->active_smooth = ACTIVE_SMOOTH;
@ -812,7 +812,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->draw_strength = 0.5f;
brush->gpencil_settings->flag |= GP_BRUSH_DEFAULT_ERASER;
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->icon_id = GP_BRUSH_ICON_ERASE_SOFT;
brush->gpencil_tool = GPAINT_TOOL_ERASE;
brush->gpencil_settings->eraser_mode = GP_BRUSH_ERASER_SOFT;
@ -859,7 +859,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -872,7 +872,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -885,7 +885,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -898,7 +898,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -911,7 +911,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -924,7 +924,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
zero_v3(brush->secondary_rgb);
break;
@ -937,7 +937,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.3f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_flag = GP_SCULPT_FLAG_SMOOTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
@ -951,7 +951,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.3f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_flag = GP_SCULPT_FLAG_SMOOTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
@ -965,7 +965,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.5f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -978,7 +978,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->size = 25.0f;
brush->gpencil_settings->draw_strength = 0.3f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -991,7 +991,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.3f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -1004,7 +1004,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.3f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -1017,7 +1017,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.5f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -1030,7 +1030,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.5f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -1043,7 +1043,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->size = 25.0f;
brush->gpencil_settings->draw_strength = 1.0f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;
@ -1056,7 +1056,7 @@ void BKE_gpencil_brush_preset_set(Main *bmain, Brush *brush, const short type)
brush->gpencil_settings->flag |= GP_BRUSH_USE_PRESSURE;
brush->gpencil_settings->draw_strength = 0.8f;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STENGTH_PRESSURE;
brush->gpencil_settings->flag |= GP_BRUSH_USE_STRENGTH_PRESSURE;
brush->gpencil_settings->sculpt_mode_flag |= GP_SCULPT_FLAGMODE_APPLY_POSITION;
break;

@ -4203,7 +4203,7 @@ static void dynamic_paint_paint_mesh_cell_point_cb_ex(
brushVelocity[v3].v,
weights);
/* substract canvas point velocity */
/* subtract canvas point velocity */
if (bData->velocity) {
sub_v3_v3v3(velocity, brushPointVelocity, bData->velocity[index].v);
}
@ -4548,7 +4548,7 @@ static void dynamic_paint_paint_particle_cell_point_cb_ex(
ParticleData *pa = psys->particles + part_index;
mul_v3_v3fl(velocity, pa->state.vel, particle_timestep);
/* substract canvas point velocity */
/* subtract canvas point velocity */
if (bData->velocity) {
sub_v3_v3(velocity, bData->velocity[index].v);
}
@ -4739,7 +4739,7 @@ static void dynamic_paint_paint_single_point_cb_ex(void *__restrict userdata,
if (brush->flags & MOD_DPAINT_USES_VELOCITY) {
float velocity[3];
/* substract canvas point velocity */
/* subtract canvas point velocity */
if (bData->velocity) {
sub_v3_v3v3(velocity, brushVelocity->v, bData->velocity[index].v);
}

@ -3000,7 +3000,7 @@ int isect_line_line_epsilon_v3(const float v1[3],
mul_v3_fl(a, dot_v3v3(cb, ab) / dot_v3v3(ab, ab));
add_v3_v3v3(r_i1, v1, a);
/* for the second line, just substract the offset from the first intersection point */
/* for the second line, just subtract the offset from the first intersection point */
sub_v3_v3v3(r_i2, r_i1, t);
return 2; /* two nearest points */

@ -487,7 +487,7 @@ void stroke_vertex()
vec2 screen_ofs = miter * y;
/* Reminder: we packed the cap flag into the sign of stength and thickness sign. */
/* Reminder: we packed the cap flag into the sign of strength and thickness sign. */
if ((is_stroke_start && strength1 > 0.0) || (is_stroke_end && thickness1 > 0.0) ||
(miter_break && !is_stroke_start && !is_stroke_end)) {
screen_ofs += line * x;

@ -272,7 +272,7 @@ static void gpencil_buffer_add_point(gpStrokeVert *verts,
int v,
bool is_endpoint)
{
/* Note: we use the sign of stength and thickness to pass cap flag. */
/* Note: we use the sign of strength and thickness to pass cap flag. */
const bool round_cap0 = (gps->caps[0] == GP_STROKE_CAP_ROUND);
const bool round_cap1 = (gps->caps[1] == GP_STROKE_CAP_ROUND);
gpStrokeVert *vert = &verts[v];

@ -836,7 +836,7 @@ static short gpencil_stroke_addpoint(tGPsdata *p,
}
/* color strength */
if (brush_settings->flag & GP_BRUSH_USE_STENGTH_PRESSURE) {
if (brush_settings->flag & GP_BRUSH_USE_STRENGTH_PRESSURE) {
pt->strength *= BKE_curvemapping_evaluateF(brush_settings->curve_strength, 0, pressure);
CLAMP(pt->strength, GPENCIL_STRENGTH_MIN, 1.0f);
}

@ -746,7 +746,7 @@ static void gpencil_primitive_update_strokes(bContext *C, tGPDprimitive *tgpi)
if (brush_settings->flag & GP_BRUSH_USE_JITTER_PRESSURE) {
BKE_curvemapping_initialize(brush_settings->curve_jitter);
}
if (brush_settings->flag & GP_BRUSH_USE_STENGTH_PRESSURE) {
if (brush_settings->flag & GP_BRUSH_USE_STRENGTH_PRESSURE) {
BKE_curvemapping_initialize(brush_settings->curve_strength);
}
@ -912,7 +912,7 @@ static void gpencil_primitive_update_strokes(bContext *C, tGPDprimitive *tgpi)
}
/* color strength */
if (brush_settings->flag & GP_BRUSH_USE_STENGTH_PRESSURE) {
if (brush_settings->flag & GP_BRUSH_USE_STRENGTH_PRESSURE) {
float curvef = BKE_curvemapping_evaluateF(brush_settings->curve_strength, 0, curve_pressure);
strength *= curvef;
strength *= brush_settings->draw_strength;

@ -8947,7 +8947,7 @@ static void SCULPT_OT_mask_by_color(wmOperatorType *ot)
"preserve_previous_mask",
false,
"Preserve Previous Mask",
"Preserve the previous mask and add or substract the new one generated by the colors");
"Preserve the previous mask and add or subtract the new one generated by the colors");
RNA_def_float(ot->srna,
"threshold",

@ -322,6 +322,6 @@ void SCULPT_OT_color_filter(struct wmOperatorType *ot)
ot->srna, "strength", 1.0f, -10.0f, 10.0f, "Strength", "Filter Strength", -10.0f, 10.0f);
PropertyRNA *prop = RNA_def_float_color(
ot->srna, "fill_color", 3, NULL, 0.0f, FLT_MAX, "Fill Color", "fill color", 0.0f, 1.0f);
ot->srna, "fill_color", 3, NULL, 0.0f, FLT_MAX, "Fill Color", "", 0.0f, 1.0f);
RNA_def_property_subtype(prop, PROP_COLOR_GAMMA);
}

@ -2219,7 +2219,7 @@ static int sequencer_reassign_inputs_exec(bContext *C, wmOperator *op)
if (BKE_sequencer_render_loop_check(seq1, last_seq) ||
BKE_sequencer_render_loop_check(seq2, last_seq) ||
BKE_sequencer_render_loop_check(seq3, last_seq)) {
BKE_report(op->reports, RPT_ERROR, "Cannot reassign inputs: recursion detected.");
BKE_report(op->reports, RPT_ERROR, "Cannot reassign inputs: recursion detected");
return OPERATOR_CANCELLED;
}

@ -2108,7 +2108,7 @@ void ED_operatormacros_uvedit(void)
ot = WM_operatortype_append_macro("UV_OT_rip_move",
"UV Rip Move",
"unstitch UV's and move the result",
"Unstitch UV's and move the result",
OPTYPE_UNDO | OPTYPE_REGISTER);
WM_operatortype_macro_define(ot, "UV_OT_rip");
otmacro = WM_operatortype_macro_define(ot, "TRANSFORM_OT_translate");

@ -195,7 +195,7 @@ static void panel_draw(const bContext *C, Panel *panel)
row = uiLayoutRow(layout, true);
uiItemR(row, &ptr, "use_edit_position", UI_ITEM_R_TOGGLE, IFACE_("Position"), ICON_NONE);
uiItemR(row, &ptr, "use_edit_strength", UI_ITEM_R_TOGGLE, IFACE_("Stength"), ICON_NONE);
uiItemR(row, &ptr, "use_edit_strength", UI_ITEM_R_TOGGLE, IFACE_("Strength"), ICON_NONE);
uiItemR(row, &ptr, "use_edit_thickness", UI_ITEM_R_TOGGLE, IFACE_("Thickness"), ICON_NONE);
uiItemR(row, &ptr, "use_edit_uv", UI_ITEM_R_TOGGLE, IFACE_("UV"), ICON_NONE);

@ -190,7 +190,7 @@ typedef enum eGPDbrush_Flag {
/* brush use pressure */
GP_BRUSH_USE_PRESSURE = (1 << 0),
/* brush use pressure for alpha factor */
GP_BRUSH_USE_STENGTH_PRESSURE = (1 << 1),
GP_BRUSH_USE_STRENGTH_PRESSURE = (1 << 1),
/* brush use pressure for alpha factor */
GP_BRUSH_USE_JITTER_PRESSURE = (1 << 2),
/* fill hide transparent */

@ -1519,7 +1519,7 @@ static void rna_def_gpencil_options(BlenderRNA *brna)
RNA_def_property_update(prop, NC_GPENCIL | ND_DATA, NULL);
prop = RNA_def_property(srna, "use_strength_pressure", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", GP_BRUSH_USE_STENGTH_PRESSURE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", GP_BRUSH_USE_STRENGTH_PRESSURE);
RNA_def_property_ui_icon(prop, ICON_STYLUS_PRESSURE, 0);
RNA_def_property_ui_text(
prop, "Use Pressure Strength", "Use tablet pressure for color strength");
@ -2277,7 +2277,7 @@ static void rna_def_brush(BlenderRNA *brna)
RNA_def_property_ui_text(
prop,
"Wet Persistence",
"Amount of wet paint that stays in the brush after applyig paint to the surface");
"Amount of wet paint that stays in the brush after applying paint to the surface");
RNA_def_property_update(prop, 0, "rna_Brush_update");
prop = RNA_def_property(srna, "density", PROP_FLOAT, PROP_FACTOR);

@ -2389,7 +2389,7 @@ static void rna_def_fluid_domain_settings(BlenderRNA *brna)
prop = RNA_def_property(srna, "openvdb_cache_compress_type", PROP_ENUM, PROP_NONE);
RNA_def_property_enum_sdna(prop, NULL, "openvdb_compression");
RNA_def_property_enum_items(prop, prop_compression_items);
RNA_def_property_ui_text(prop, "Compression", "facession method to be used");
RNA_def_property_ui_text(prop, "Compression", "Compression method to be used");
prop = RNA_def_property(srna, "openvdb_data_depth", PROP_ENUM, PROP_NONE);
RNA_def_property_enum_bitflag_sdna(prop, NULL, "openvdb_data_depth");

@ -872,7 +872,7 @@ static void rna_Sequence_input_set(PointerRNA *ptr,
Sequence *input = ptr_value.data;
if (BKE_sequencer_render_loop_check(input, seq)) {
BKE_report(reports, RPT_ERROR, "Cannot reassign inputs: recursion detected.");
BKE_report(reports, RPT_ERROR, "Cannot reassign inputs: recursion detected");
return;
}

@ -338,7 +338,7 @@ static void rna_def_shader_fx_pixel(BlenderRNA *brna)
prop = RNA_def_property(srna, "use_antialiasing", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_negative_sdna(prop, NULL, "flag", FX_PIXEL_FILTER_NEAREST);
RNA_def_property_ui_text(prop, "Antialiasing", "Antialiase pixels");
RNA_def_property_ui_text(prop, "Antialiasing", "Antialias pixels");
RNA_def_property_update(prop, NC_OBJECT | ND_SHADERFX, "rna_ShaderFx_update");
}

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