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Fix for bug in linear constraint gradient. #161

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Fix for bug in linear constraint gradient. #161

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4 changes: 2 additions & 2 deletions momentum/character_solver/limit_error_function.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -239,10 +239,10 @@ double LimitErrorFunctionT<T>::getGradient(
error += residual * residual * limit.weight * tWeight;

if (this->enabledParameters_.test(data.targetIndex)) {
gradient[data.targetIndex] += T(2) * residual * data.scale * tWeight;
gradient[data.targetIndex] += T(2) * residual * data.scale * limit.weight * tWeight;
}
if (this->enabledParameters_.test(data.referenceIndex)) {
gradient[data.referenceIndex] -= T(2) * residual * tWeight;
gradient[data.referenceIndex] -= T(2) * residual * limit.weight * tWeight;
}
}
break;
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4 changes: 2 additions & 2 deletions momentum/test/character_solver/error_functions_test.cpp
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Expand Up @@ -106,7 +106,7 @@ TYPED_TEST(Momentum_ErrorFunctionsTest, LimitError_GradientsAndJacobians) {
SCOPED_TRACE("Limit LinearTest");
ParameterLimit limit;
limit.type = Linear;
limit.weight = 1.0;
limit.weight = 1.5;
limit.data.linear.referenceIndex = 0;
limit.data.linear.targetIndex = 5;
limit.data.linear.scale = 0.25;
Expand Down Expand Up @@ -134,7 +134,7 @@ TYPED_TEST(Momentum_ErrorFunctionsTest, LimitError_GradientsAndJacobians) {
limit.type = LimitType::Linear;
limit.data.linear.referenceIndex = 0;
limit.data.linear.targetIndex = 5;
limit.weight = 1.0f;
limit.weight = 0.5f;

{
ParameterLimit cur = limit;
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