v0.0.6

Added

• Basic benchmark for solve.
• Used damped pseudo inverse for SVD case.
• Make progressively smaller step sizes towards goals if an IK chain is diverging.
• Jacobian pseudo inverse caching for opportunistic performance gain.
• Added "saveRestPose" to "IKUtils" export.

Changed

• Simplified internal Matrix initialization.
• Use analytic Jacobian.
• Remove "translationStep" and "rotatinoStep" options.
• Use a simplified formulation for rest pose calculations for a significant speed up when using rest pose.
• Move "findRoots" to "IKUtils" export.
• Moved "urdfRobotToIKRoot", "setUrdfFromIK", "setIKFromUrdf" to URDFUtils export.
• URDFUtils.setIKFromUrdf: Root DoF values are now set with taking the IK root into account.
• URDFUtils.urdfRobotToIKRoot: The produced IK system now accounts for any existing changes to the URDF joint values.

Fixed

• Fixed case where Matrices were not zeroed out when fetched from MatrixPool, possibly causing some outdated values to be used in calculations.

v0.0.5

Fixed

• Adjust package version requirements.
• Set the type and module entry in the package.
• Updated the project to work with three.js r159 and up.

Changed

• Removed IKRootsHelper.setResolution.

v0.0.4

Added

• Better error messages.
• Typescript definition files.
• Functions for setting draw through and color on IKRootsHelper.

Fixed

• IKRootsHelper throwing an error when calling updateStructure.
• IKRootsHelper throwing an error when calling dispose.
• Support for prismatic joints when assigning the ik state to URDF joints.

Changed

• Disabled SVD by default on Solver because it was causing solves to diverge.

v0.0.3

Changed

• Frame and Joint matrices from using Float64Array to using Float32Array.
• Added matrixPool onto Solver and ChainSolver instances so they are not retained globally.
• WorkerSolver now falls back to clone ArrayBuffers when SharedArrayBuffers are not available.

Fixed

• useSVD option not be set onto Solver's ChainSolvers.
• useSVD option will fall back to non SVD pseudoinverse if SVD fails to be computed.
• Removed ability to set unmoveable DoF on Joints.
• Removed unmoveable joints from solve.

v0.0.2

Added

• findRoots function for finding unique connected hierarchy roots from a set of frames.
• useSVD option for Solvers.

Fixed

• Joint rest pose not being applied correctly resulting in the solver often not converging.

Changed

• Closure links are no longer added to the Joint children array.
• All connected roots no longer have to be manually added to the IKRootsHelper or Solvers.
• Renamed IKRootsHelper.update to IKRootsHelper.updateStructure.

v0.0.1

Initial release