Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/kdl/chainjnttojacsolver.cpp

@@ -0,0 +1,83 @@
+/** \file itasc/kdl/chainjnttojacsolver.cpp
+ * \ingroup intern_itasc
+ */
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#include "chainjnttojacsolver.hpp"
+
+namespace KDL
+{
+    ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain):
+        chain(_chain)
+    {
+    }
+
+    ChainJntToJacSolver::~ChainJntToJacSolver()
+    {
+    }
+
+    int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac)
+    {
+        assert(q_in.rows()==chain.getNrOfJoints()&&
+               q_in.rows()==jac.columns());
+
+
+		Frame T_local, T_joint;
+        T_total = Frame::Identity();
+        SetToZero(t_local);
+
+		int i=chain.getNrOfSegments()-1;
+		unsigned int q_nr = chain.getNrOfJoints();
+
+		//Lets recursively iterate until we are in the root segment
+		while (i >= 0) {
+			const Segment& segment = chain.getSegment(i);
+			int ndof = segment.getJoint().getNDof();
+			q_nr -= ndof;
+
+	        //get the pose of the joint.
+			T_joint = segment.getJoint().pose(((JntArray&)q_in)(q_nr));
+			// combine with the tip to have the tip pose
+			T_local = T_joint*segment.getFrameToTip();
+			//calculate new T_end:
+			T_total = T_local * T_total;
+
+			for (int dof=0; dof<ndof; dof++) {
+				// combine joint rotation with tip position to get a reference frame for the joint
+				T_joint.p = T_local.p;
+				// in which the twist can be computed (needed for NDof joint)
+				t_local = segment.twist(T_joint, 1.0, dof);
+				//transform the endpoint of the local twist to the global endpoint:
+				t_local = t_local.RefPoint(T_total.p - T_local.p);
+				//transform the base of the twist to the endpoint
+				t_local = T_total.M.Inverse(t_local);
+				//store the twist in the jacobian:
+				jac.twists[q_nr+dof] = t_local;
+			}
+			i--;
+		}//endwhile
+		//Change the base of the complete jacobian from the endpoint to the base
+		changeBase(jac, T_total.M, jac);
+        return 0;
+    }
+}
+