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Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications.

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Instead, let the user pass it in explicitly.
This commit is contained in:
Erwin Coumans
2020-01-11 12:43:27 -08:00
parent 83bdef8254
commit 2336dfcb9e
6 changed files with 25 additions and 29 deletions
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16
examples/ThirdPartyLibs/BussIK/Jacobian.cpp
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@@ -243,7 +243,7 @@ void Jacobian::UpdateThetaDot()
m_tree->Compute();
}
void Jacobian::CalcDeltaThetas()
void Jacobian::CalcDeltaThetas(MatrixRmn& AugMat)
{
switch (CurrentUpdateMode)
{
@@ -257,7 +257,7 @@ void Jacobian::CalcDeltaThetas()
CalcDeltaThetasPseudoinverse();
break;
case JACOB_DLS:
CalcDeltaThetasDLS();
CalcDeltaThetasDLS(AugMat);
break;
case JACOB_SDLS:
CalcDeltaThetasSDLS();
@@ -327,7 +327,7 @@ void Jacobian::CalcDeltaThetasPseudoinverse()
}
}
void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV)
void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV, MatrixRmn& AugMat)
{
const MatrixRmn& J = ActiveJacobian();
@@ -341,7 +341,7 @@ void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV)
// J.MultiplyTranspose( dTextra, dTheta );
// Use these two lines for the traditional DLS method
U.Solve(dS, &dT1);
U.Solve(dS, &dT1, AugMat);
J.MultiplyTranspose(dT1, dTheta);
// Compute JInv in damped least square form
@@ -379,7 +379,7 @@ void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV)
}
}
void Jacobian::CalcDeltaThetasDLS()
void Jacobian::CalcDeltaThetasDLS(MatrixRmn& AugMat)
{
const MatrixRmn& J = ActiveJacobian();
@@ -393,7 +393,7 @@ void Jacobian::CalcDeltaThetasDLS()
// J.MultiplyTranspose( dTextra, dTheta );
// Use these two lines for the traditional DLS method
U.Solve(dS, &dT1);
U.Solve(dS, &dT1, AugMat);
J.MultiplyTranspose(dT1, dTheta);
// Scale back to not exceed maximum angle changes
@@ -404,7 +404,7 @@ void Jacobian::CalcDeltaThetasDLS()
}
}
void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec)
void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec, MatrixRmn& AugMat)
{
const MatrixRmn& J = ActiveJacobian();
@@ -414,7 +414,7 @@ void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec)
dT1.SetLength(J.GetNumColumns());
J.MultiplyTranspose(dS, dT1);
U.Solve(dT1, &dTheta);
U.Solve(dT1, &dTheta, AugMat);
// Scale back to not exceed maximum angle changes
double maxChange = dTheta.MaxAbs();