diff options
| author | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2011-12-16 23:53:12 +0400 |
|---|---|---|
| committer | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2011-12-16 23:53:12 +0400 |
| commit | 3311164b24da61f2967f96d0ee27508a7e2e0267 (patch) | |
| tree | 0824417cf3d645f59d98b210c02a4c5ef6c05a48 /source/blender/ikplugin/intern/itasc_plugin.cpp | |
| parent | 3c8ab559a5bd31fd38e9c5cf9da8505ca28f4887 (diff) | |
Math lib: matrix multiplication order fix for two functions that were
inconsistent with similar functions & math notation:
mul_m4_m4m4(R, B, A) => mult_m4_m4m4(R, A, B)
mul_m3_m3m4(R, B, A) => mult_m3_m3m4(R, A, B)
For branch maintainers, it should be relatively simple to fix things manually,
it's also possible run this script after merging to do automatic replacement:
http://www.pasteall.org/27459/python
Diffstat (limited to 'source/blender/ikplugin/intern/itasc_plugin.cpp')
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index f4720b7fc41..f605441282b 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -570,7 +570,7 @@ static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Fram mul_serie_m4(restmat, target->owner->obmat, chanmat, target->eeRest, NULL, NULL, NULL, NULL, NULL); } else { - mul_m4_m4m4(restmat, target->eeRest, target->owner->obmat); + mult_m4_m4m4(restmat, target->owner->obmat, target->eeRest); } // blend the target blend_m4_m4m4(tarmat, restmat, tarmat, constraint->enforce); @@ -597,7 +597,7 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& // save the base as a frame too so that we can compute deformation // after simulation ikscene->baseFrame.setValue(&chanmat[0][0]); - mul_m4_m4m4(rootmat, chanmat, ikscene->blArmature->obmat); + mult_m4_m4m4(rootmat, ikscene->blArmature->obmat, chanmat); } else { copy_m4_m4(rootmat, ikscene->blArmature->obmat); @@ -622,11 +622,11 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& // get polar target matrix in world space get_constraint_target_matrix(ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); // convert to armature space - mul_m4_m4m4(polemat, mat, imat); + mult_m4_m4m4(polemat, imat, mat); // get the target in world space (was computed before as target object are defined before base object) iktarget->target->getPose().getValue(mat[0]); // convert to armature space - mul_m4_m4m4(goalmat, mat, imat); + mult_m4_m4m4(goalmat, imat, mat); // take position of target, polar target, end effector, in armature space KDL::Vector goalpos(goalmat[3]); KDL::Vector polepos(polemat[3]); @@ -1003,7 +1003,7 @@ static void convert_pose(IK_Scene *ikscene) copy_m4_m4(bmat, bone->arm_mat); } invert_m4_m4(rmat, bmat); - mul_m4_m4m4(bmat, pchan->pose_mat, rmat); + mult_m4_m4m4(bmat, rmat, pchan->pose_mat); normalize_m4(bmat); boneRot.setValue(bmat[0]); GetJointRotation(boneRot, ikchan->jointType, rot); @@ -1419,7 +1419,7 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) copy_m4_m4(mat, pchan->bone->arm_mat); copy_v3_v3(mat[3], pchan->bone->arm_tail); // get the rest pose relative to the armature base - mul_m4_m4m4(iktarget->eeRest, mat, invBaseFrame); + mult_m4_m4m4(iktarget->eeRest, invBaseFrame, mat); iktarget->eeBlend = (!ikscene->polarConstraint && condata->type==CONSTRAINT_IK_COPYPOSE) ? true : false; // use target_callback to make sure the initPose includes enforce coefficient target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget); |