Merge branch '28' into custom-manipulatorscustom-manipulators

1 files changed, 31 insertions, 33 deletions

diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c
index 6ea311b2c7b..5169b72590c 100644
--- a/source/blender/ikplugin/intern/iksolver_plugin.c
+++ b/source/blender/ikplugin/intern/iksolver_plugin.c
@@ -217,9 +217,27 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[3][3])   // nr =
 	copy_m4_m3(ikmat, ik_mat);
 
 	if (pchan->parent)
-		mul_m4_series(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat);
+		mul_m4_m4m4(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat);
 	else
-		mul_m4_m4m4(pchan->pose_mat, pchan->chan_mat, ikmat);
+		copy_m4_m4(pchan->pose_mat, pchan->chan_mat);
+
+#ifdef USE_NONUNIFORM_SCALE
+	/* apply IK mat, but as if the bones have uniform scale since the IK solver
+	 * is not aware of non-uniform scale */
+	float scale[3];
+	mat4_to_size(scale, pchan->pose_mat);
+	normalize_v3_length(pchan->pose_mat[0], scale[1]);
+	normalize_v3_length(pchan->pose_mat[2], scale[1]);
+#endif
+
+	mul_m4_m4m4(pchan->pose_mat, pchan->pose_mat, ikmat);
+
+#ifdef USE_NONUNIFORM_SCALE
+	float ik_scale[3];
+	mat3_to_size(ik_scale, ik_mat);
+	normalize_v3_length(pchan->pose_mat[0], scale[0] * ik_scale[0]);
+	normalize_v3_length(pchan->pose_mat[2], scale[2] * ik_scale[2]);
+#endif
 
 	/* calculate head */
 	copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]);
@@ -234,7 +252,7 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[3][3])   // nr =
 
 /* called from within the core BKE_pose_where_is loop, all animsystems and constraints
  * were executed & assigned. Now as last we do an IK pass */
-static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
+static void execute_posetree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, PoseTree *tree)
 {
 	float R_parmat[3][3], identity[3][3];
 	float iR_parmat[3][3];
@@ -308,6 +326,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 		/* change length based on bone size */
 		length = bone->length * len_v3(R_bonemat[1]);
 
+		/* basis must be pure rotation */
+		normalize_m3(R_bonemat);
+		normalize_m3(R_parmat);
+
 		/* compute rest basis and its inverse */
 		copy_m3_m3(rest_basis, bone->bone_mat);
 		transpose_m3_m3(irest_basis, bone->bone_mat);
@@ -317,11 +339,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 		mul_m3_m3m3(full_basis, iR_parmat, R_bonemat);
 		mul_m3_m3m3(basis, irest_basis, full_basis);
 
-		/* basis must be pure rotation */
-		normalize_m3(basis);
-
 		/* transform offset into local bone space */
-		normalize_m3(iR_parmat);
 		mul_m3_v3(iR_parmat, start);
 
 		IK_SetTransform(seg, start, rest_basis, basis, length);
@@ -376,7 +394,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 		/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
 		 * strictly speaking, it is a posechannel)
 		 */
-		BKE_constraint_target_matrix_get(scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+		BKE_constraint_target_matrix_get(eval_ctx, scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
 
 		/* and set and transform goal */
 		mul_m4_m4m4(goal, goalinv, rootmat);
@@ -387,7 +405,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 
 		/* same for pole vector target */
 		if (data->poletar) {
-			BKE_constraint_target_matrix_get(scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+			BKE_constraint_target_matrix_get(eval_ctx, scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
 
 			if (data->flag & CONSTRAINT_IK_SETANGLE) {
 				/* don't solve IK when we are setting the pole angle */
@@ -516,7 +534,7 @@ static void free_posetree(PoseTree *tree)
 ///----------------------------------------
 /// Plugin API for legacy iksolver
 
-void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, float UNUSED(ctime))
+void iksolver_initialize_tree(const struct EvaluationContext *UNUSED(eval_ctx), struct Scene *UNUSED(scene), struct Object *ob, float UNUSED(ctime))
 {
 	bPoseChannel *pchan;
 
@@ -527,7 +545,7 @@ void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, fl
 	ob->pose->flag &= ~POSE_WAS_REBUILT;
 }
 
-void iksolver_execute_tree(struct Scene *scene, Object *ob,  bPoseChannel *pchan_root, float ctime)
+void iksolver_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob,  bPoseChannel *pchan_root, float ctime)
 {
 	while (pchan_root->iktree.first) {
 		PoseTree *tree = pchan_root->iktree.first;
@@ -540,25 +558,13 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob,  bPoseChannel *pchan
 		/* 4. walk over the tree for regular solving */
 		for (a = 0; a < tree->totchannel; a++) {
 			if (!(tree->pchan[a]->flag & POSE_DONE))    // successive trees can set the flag
-				BKE_pose_where_is_bone(scene, ob, tree->pchan[a], ctime, 1);
+				BKE_pose_where_is_bone(eval_ctx, scene, ob, tree->pchan[a], ctime, 1);
 			/* tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() */
 			tree->pchan[a]->flag |= POSE_CHAIN;
 		}
 
-#ifdef USE_NONUNIFORM_SCALE
-		float (*pchan_scale_data)[3] = MEM_mallocN(sizeof(float[3]) * tree->totchannel, __func__);
-
-		for (a = 0; a < tree->totchannel; a++) {
-			mat4_to_size(pchan_scale_data[a], tree->pchan[a]->pose_mat);
-
-			/* make uniform at y scale since this controls the length */
-			normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][1]);
-			normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][1]);
-		}
-#endif
-
 		/* 5. execute the IK solver */
-		execute_posetree(scene, ob, tree);
+		execute_posetree(eval_ctx, scene, ob, tree);
 
 		/* 6. apply the differences to the channels,
 		 *    we need to calculate the original differences first */
@@ -571,14 +577,6 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob,  bPoseChannel *pchan
 			where_is_ik_bone(tree->pchan[a], tree->basis_change[a]);
 		}
 
-#ifdef USE_NONUNIFORM_SCALE
-		for (a = 0; a < tree->totchannel; a++) {
-			normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][0]);
-			normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][2]);
-		}
-		MEM_freeN(pchan_scale_data);
-#endif
-
 		/* 7. and free */
 		BLI_remlink(&pchan_root->iktree, tree);
 		free_posetree(tree);