93 m_clamp_length *= scale;
98 double m_clamp_length;
126 m_goal_center *= scale;
135 Vector3d m_goal_center;
136 double m_total_mass_inv;
NSNotificationCenter * center
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
void ComputeJacobian(IK_QJacobian &jacobian)
IK_QCenterOfMassTask(bool primary, const IK_QSegment *segment, const Vector3d ¢er)
IK_QOrientationTask(bool primary, const IK_QSegment *segment, const Matrix3d &goal)
void ComputeJacobian(IK_QJacobian &jacobian)
void ComputeJacobian(IK_QJacobian &jacobian)
IK_QPositionTask(bool primary, const IK_QSegment *segment, const Vector3d &goal)
bool PositionTask() const
const IK_QSegment * m_segment
void SetWeight(double weight)
virtual void ComputeJacobian(IK_QJacobian &jacobian)=0
virtual double Distance() const =0
virtual bool PositionTask() const
virtual void Scale(double)
IK_QTask(int size, bool primary, bool active, const IK_QSegment *segment)
Segment< FEdge *, Vec3r > segment
bool active
all scheduled work for the GPU.