pymomentum-cpu 0.1.78.post24__cp313-cp313-manylinux_2_39_x86_64.whl → 0.1.80.post0__cp313-cp313-manylinux_2_39_x86_64.whl

include/momentum/character_solver/vertex_projection_error_function.h

@@ -85,6 +85,7 @@ class VertexProjectionErrorFunctionT : public SkeletonErrorFunctionT<T> {
   double calculateJacobian(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       const VertexProjectionConstraintT<T>& constr,
       Ref<Eigen::MatrixX<T>> jac,
       Ref<Eigen::VectorX<T>> res) const;
@@ -92,6 +93,7 @@ class VertexProjectionErrorFunctionT : public SkeletonErrorFunctionT<T> {
   double calculateGradient(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       const VertexProjectionConstraintT<T>& constr,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
 
@@ -103,21 +105,10 @@ class VertexProjectionErrorFunctionT : public SkeletonErrorFunctionT<T> {
       const Eigen::Vector3<T>& d_restPos,
       Eigen::Vector3<T>& d_worldPos) const;
 
-  void updateMeshes(const ModelParametersT<T>& modelParameters, const SkeletonStateT<T>& state);
-
   const Character& character_;
 
   std::vector<VertexProjectionConstraintT<T>> constraints_;
 
-  std::unique_ptr<MeshT<T>>
-      neutralMesh_; // Rest mesh without facial expression basis,
-                    // used to restore the neutral shape after facial expressions are applied.
-                    // Not used with there is a shape basis.
-  std::unique_ptr<MeshT<T>> restMesh_; // The rest positions of the mesh after shape basis
-                                       // (and potentially facial expression) has been applied
-  std::unique_ptr<MeshT<T>>
-      posedMesh_; // The posed mesh after the skeleton transforms have been applied.
-
   uint32_t maxThreads_;
 
   T _nearClip = 1.0f;

include/momentum/character_solver/vertex_vertex_distance_error_function.h

@@ -101,6 +101,7 @@ class VertexVertexDistanceErrorFunctionT : public SkeletonErrorFunctionT<T> {
   double calculateJacobian(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       const VertexVertexDistanceConstraintT<T>& constraint,
       Eigen::Ref<Eigen::MatrixX<T>> jacobian,
       T& residual) const;
@@ -109,6 +110,7 @@ class VertexVertexDistanceErrorFunctionT : public SkeletonErrorFunctionT<T> {
   double calculateGradient(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       const VertexVertexDistanceConstraintT<T>& constraint,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
 
@@ -116,6 +118,7 @@ class VertexVertexDistanceErrorFunctionT : public SkeletonErrorFunctionT<T> {
   void calculateVertexGradient(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       int vertexIndex,
       const Eigen::Vector3<T>& gradientDirection,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
@@ -124,6 +127,7 @@ class VertexVertexDistanceErrorFunctionT : public SkeletonErrorFunctionT<T> {
   void calculateVertexJacobian(
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
       int vertexIndex,
       const Eigen::Vector3<T>& jacobianDirection,
       Eigen::Ref<Eigen::MatrixX<T>> jacobian) const;
@@ -135,17 +139,9 @@ class VertexVertexDistanceErrorFunctionT : public SkeletonErrorFunctionT<T> {
       const Eigen::Vector3<T>& d_restPos,
       Eigen::Vector3<T>& d_worldPos) const;
 
-  /// Update the meshes with current parameters and state
-  void updateMeshes(const ModelParametersT<T>& modelParameters, const SkeletonStateT<T>& state);
-
   const Character& character_;
 
   std::vector<VertexVertexDistanceConstraintT<T>> constraints_;
-
-  /// Mesh used to store rest positions
-  std::unique_ptr<MeshT<T>> restMesh_;
-  /// Mesh used to store posed positions
-  std::unique_ptr<MeshT<T>> posedMesh_;
 };
 
 } // namespace momentum

{pymomentum_cpu-0.1.78.post24.dist-info → pymomentum_cpu-0.1.80.post0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymomentum-cpu
-Version: 0.1.78.post24
+Version: 0.1.80.post0
 Summary: A library providing foundational algorithms for human kinematic motion and numerical optimization solvers to apply human motion in various applications (CPU-only version for Linux, macOS Intel, and macOS ARM)
 Keywords: kinematics,motion,optimization,human-motion,inverse-kinematics,forward-kinematics,body-tracking,motion-capture,character-animation,robotics,cpu
 Author-Email: Meta Reality Labs Research <jeongseok@meta.com>
@@ -30,8 +30,8 @@ Requires-Dist: numpy>=1.20.0
 Requires-Dist: scipy>=1.7.0
 Requires-Dist: torch<2.9,>=2.8.0; platform_system == "Linux" and python_version == "3.12"
 Requires-Dist: torch<2.9,>=2.8.0; platform_system == "Linux" and python_version == "3.13"
-Requires-Dist: torch<2.3,>=2.2.0; platform_system == "Darwin" and python_version == "3.12"
-Requires-Dist: torch<2.7,>=2.6.0; platform_system == "Darwin" and python_version == "3.13"
+Requires-Dist: torch<2.9,>=2.8.0; platform_system == "Darwin" and platform_machine == "arm64" and python_version == "3.12"
+Requires-Dist: torch<2.9,>=2.8.0; platform_system == "Darwin" and platform_machine == "arm64" and python_version == "3.13"
 Description-Content-Type: text/markdown
 
 # Momentum

{pymomentum_cpu-0.1.78.post24.dist-info → pymomentum_cpu-0.1.80.post0.dist-info}/RECORD

@@ -94,8 +94,8 @@ include/momentum/character_solver/state_error_function.h,sha256=qkgPgKcn0FLahMsC
 include/momentum/character_solver/transform_pose.h,sha256=PCmBQ8FcXfcR4udOlgUC7-gO7UDCJobCumG7PTlrgy4,3213
 include/momentum/character_solver/trust_region_qr.h,sha256=7OmK1zRgFJxeTumr7bQSs4IakZIY6GRvxO8kkS-8e_w,1905
 include/momentum/character_solver/vertex_error_function.h,sha256=VNgc_P3cnaeaRFpSrxg3VeTWmmLGF_aqkeU1pyyJnYs,4799
-include/momentum/character_solver/vertex_projection_error_function.h,sha256=lJw5GvMXN-6fG7de4FjZBAvd9ZCU-b8VEgSAA1vt48w,3986
-include/momentum/character_solver/vertex_vertex_distance_error_function.h,sha256=Zr1WG64A4eC7jLmZJrNIPeITsrgx_GgsBgFYKYT4Fco,5009
+include/momentum/character_solver/vertex_projection_error_function.h,sha256=o9taDDuKkPf3I0LG0DOXF9aGYFwIIZs-qDUY768X4OY,3414
+include/momentum/character_solver/vertex_vertex_distance_error_function.h,sha256=SLL7Lq4LX5f9I0uSuRt3JHHzyKeGw1grr1k1FG5ssXE,4844
 include/momentum/common/aligned.h,sha256=dZydnVzKP7kwNqaDlAUUi4AdEnrGWqH3TnRKU5hIXYs,4965
 include/momentum/common/checks.h,sha256=D6DFxY8tz84fFDv_SAZkDDx_on8vkP_yL3SrAOMpI64,758
 include/momentum/common/exception.h,sha256=EGY8XU07VHO2o2ZjfQHj48RaC-lYvT-vqTf-7XEtGhE,2524
@@ -451,39 +451,39 @@ include/rerun/datatypes/view_coordinates.hpp,sha256=qoKlxS-oQDx4_8SE1kGUJvV0LtSy
 include/rerun/datatypes/visible_time_range.hpp,sha256=6HIjxAUOXtv7I7g0GflgaRTwLbHHO2WXcyZtMZGqBWk,1778
 include/rerun/third_party/cxxopts.hpp,sha256=zp6SePNC9y1tAD7ryAodVydRCo0leWDwZRmcf4TbWEc,71577
 lib/libarrow.a,sha256=Jdj4Gf6N8SKdhtIdOIECmx16n0b15JHdgkxk1iU76J4,33273022
-lib/libarrow_bundled_dependencies.a,sha256=zOHb6WppwXYYma0FY39RJx3D1DJrEDXBjTwGce1nBOk,244362
+lib/libarrow_bundled_dependencies.a,sha256=RaDMF47CVNIxc-VqDqGXc3xx823sSHS_OQzDNXb5alc,244362
 lib/librerun_c__linux_x64.a,sha256=JadrhPNhNjgRXq7eo8ZpwZJb4lpOSnvb__ds-OhYPfA,125411548
-lib/librerun_sdk.a,sha256=uyVoegfVOznC6unXIjF5_WIUdpJ9mydwFvLZuv8gvKE,5552506
+lib/librerun_sdk.a,sha256=FIZYN7I0AE4KjxCwpkaexXMWhgCwF_pZxoQX0Tv5c-M,5552506
 lib/cmake/rerun_sdk/rerun_sdkConfig.cmake,sha256=Q-pxHnbFc3Ok6T-gxRglfZSsMigx5dCurCzO0H_peD4,3346
 lib/cmake/rerun_sdk/rerun_sdkConfigVersion.cmake,sha256=pkP-Dk2ua51-lUaTXsyrol2-gkTmJ9cVmQBOc_YBBXk,3252
 lib/cmake/rerun_sdk/rerun_sdkTargets-release.cmake,sha256=oJmUbA8vo_Af5olAGr7JcaiuRPU4dihtdClmCq11ADY,824
 lib/cmake/rerun_sdk/rerun_sdkTargets.cmake,sha256=BNlHggsz8G6CC3ypFIFo4xMQVy5c2aSaGJr7nQTmLIM,4255
-lib64/libaxel.a,sha256=V02L043r_4SDDbHdtDPu2M1VvHSgFLY6_LtJQhhloxI,1225348
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-lib64/libmomentum_skeleton.a,sha256=0bkN2ff7d1VzXYepw-E6qtdkF1MiSRsN11S8UJS8Sxo,789844
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+lib64/libmomentum_io_shape.a,sha256=r04qFmKl3WARRIxj45KFjVzcVfDGQnYWRRD2scGmDF0,1365814
+lib64/libmomentum_io_skeleton.a,sha256=PkDJeKcDVXnVzNTwiv1OfXq-Dq4Q-qwbwom8mfKv3q0,2684638
+lib64/libmomentum_io_urdf.a,sha256=4pB4ZNeeGZD4ypAvSrTO9pjumL5JC2SYf4abHiLNxVg,313770
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+lib64/libmomentum_rerun.a,sha256=_Q9lQcD6CyoPqXkb4cJySX5hHztZN-HUIzyI42rpILw,1137038
+lib64/libmomentum_simd_constraints.a,sha256=IXH5brccs7jSkwoO8RFdqmyq6sKmvNLB8mTmItb1WXM,776086
+lib64/libmomentum_simd_generalized_loss.a,sha256=jyolAPX40xtpp1xFdJ5J8xA5sM7nQKDcDy9YI-ct-dw,753012
+lib64/libmomentum_skeleton.a,sha256=klLaYE2UnQCv-uDVtmUHgJR5yX5tFpHST6BN6DmJUzU,789844
+lib64/libmomentum_solver.a,sha256=7JdW902jiyZyQQvgXOriVj18Z1-OygT7650qj2HNowY,1610354
 lib64/cmake/axel/axel-config.cmake,sha256=gTDQ-zK9pDcMzFmSoKorPKVbCaeUhK6JVGMmui1QX64,1372
 lib64/cmake/axel/axelTargets-release.cmake,sha256=S6GMmgGs-IxZC0qBBz_ADcbD7GrHGS1UXSk4BLkz2JI,823
 lib64/cmake/axel/axelTargets.cmake,sha256=gtHQernEzZl5Kc1GmxzmFX_IXfDNhuXscPsfxzz4fkI,4231
@@ -492,12 +492,12 @@ lib64/cmake/momentum/momentum-config.cmake,sha256=Ma8BDkEqOBeFAuKj5HaZY8HP2_vXGf
 lib64/cmake/momentum/momentumTargets-release.cmake,sha256=1MnXwezsk-IVmp7XWZroPt-wd53biWQXOS2TMrCns_A,13517
 lib64/cmake/momentum/momentumTargets.cmake,sha256=-ZocI6gx3eZTRDo4Ynz5TwiFXwZOBF9JqPAtTq0Mx3c,15954
 pymomentum/axel.cpython-313-x86_64-linux-gnu.so,sha256=URcbyfzhgnlQEECA6W2ge1nk7kdJniud-dT1hp-xRtc,970273
-pymomentum/geometry.cpython-313-x86_64-linux-gnu.so,sha256=Q4qlsyuQ7A6fNgVa7P4xDxrPfnW8YVkNQF1p0JxCWGM,6421913
+pymomentum/geometry.cpython-313-x86_64-linux-gnu.so,sha256=iN8ElCTJ1DpLmLt1ChzHm4_SD2dacJeY2R7k8wTCiiA,6421913
 pymomentum/marker_tracking.cpython-313-x86_64-linux-gnu.so,sha256=5KAuAzir2NjSqih8jE9OMJKimgM1GkJg2HNtNJx55mU,5515769
 pymomentum/quaternion.py,sha256=-TB1iUxcAVjntIJZW2xS8Mc2uWBUZW_M4sj-CaoMvPY,26956
 pymomentum/skel_state.py,sha256=K2WTFxudHsxR3LuE3ZT5_zzvgjEbrD5KWpWEQXOzUGY,17769
-pymomentum/solver.cpython-313-x86_64-linux-gnu.so,sha256=h8SZEPlC71jgdsbrbnmYG5wK_lA0L1Z5qcUDJR4YyjI,7388081
-pymomentum/solver2.cpython-313-x86_64-linux-gnu.so,sha256=AugesDq67gkp85VMPHV9E2ujXK7f6nH5J3U4prx3Mms,5493169
+pymomentum/solver.cpython-313-x86_64-linux-gnu.so,sha256=9Zrd4qFKGHW4myF9BUNNNRQav1N5FuCEn22vuouxfSw,7379761
+pymomentum/solver2.cpython-313-x86_64-linux-gnu.so,sha256=M1rRG4n9t3BdGoAOJo0hl2EMl0womgvunrwtn9PCo-s,5480681
 pymomentum/trs.py,sha256=jwvOR2DDMpAqOE9zFh0TJnigsDpfRi2guUfayQklVqk,17624
 pymomentum/backend/__init__.py,sha256=6tzrxIJl9w1eM-gqf7YwTZ33WkJ6lnq9h4-TsTuOtuc,476
 pymomentum/backend/skel_state_backend.py,sha256=tsd2iqtkbyvC7kmvZcApKGu16QbkZuEq2_ysWv6p89Y,25883
@@ -549,7 +549,7 @@ pymomentum_cpu.libs/libezc3d-4a95ab2c.so,sha256=aryLuqXyWoYK9vUVR2guVfBwnWMXInj4
 pymomentum_cpu.libs/libre2-985fb83c.so.11,sha256=XtGXahmFHO6kV-x1ROEAdIDmcZVlWGT70joU20kCLYg,718825
 pymomentum_cpu.libs/libtinyxml2-8d10763c.so.11.0.0,sha256=KoK7Wl1HGQLMYBc4NWufsGh6RqNvjpWBQVGKqUoXgrE,163353
 pymomentum_cpu.libs/liburdfdom_model-7b26ae88.so.4.0,sha256=OTjp8aTUsvzgCy4OvW3EWM5G8JP4miw_nYc7brW3U6g,227401
-pymomentum_cpu-0.1.78.post24.dist-info/METADATA,sha256=nvZFBuG2yY59M6RZBxtPZt0NTgBmoWQs2IpA65QmHKU,5740
-pymomentum_cpu-0.1.78.post24.dist-info/WHEEL,sha256=2ADbL3pVf9-n9sIiYH0qdS_3puCuND-aMQYo3y1sVjQ,118
-pymomentum_cpu-0.1.78.post24.dist-info/RECORD,,
-pymomentum_cpu-0.1.78.post24.dist-info/licenses/LICENSE,sha256=2m03A-0Ry-Qr0hLHJZV8mNojy_8ZmMBfpLPZdtGljpM,1088
+pymomentum_cpu-0.1.80.post0.dist-info/METADATA,sha256=DObqHGmbFHWewE-kRojRGX67Al71s4TSzomfd3RHQqk,5803
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+pymomentum_cpu-0.1.80.post0.dist-info/RECORD,,
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