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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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8
examples/ThirdPartyLibs/BussIK/Jacobian.h
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@@ -66,15 +66,15 @@ public:
void SetJendTrans(MatrixRmn& J);
void SetDeltaS(VectorRn& S);
void CalcDeltaThetas(); // Use this only if the Current Mode has been set.
void CalcDeltaThetas(MatrixRmn& AugMat); // Use this only if the Current Mode has been set.
void ZeroDeltaThetas();
void CalcDeltaThetasTranspose();
void CalcDeltaThetasPseudoinverse();
void CalcDeltaThetasDLS();
void CalcDeltaThetasDLS2(const VectorRn& dVec);
void CalcDeltaThetasDLS(MatrixRmn& AugMat);
void CalcDeltaThetasDLS2(const VectorRn& dVec, MatrixRmn& AugMat);
void CalcDeltaThetasDLSwithSVD();
void CalcDeltaThetasSDLS();
void CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV);
void CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV, MatrixRmn& AugMat);
void UpdateThetas();
void UpdateThetaDot();