Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

4 files changed, 127 insertions, 21 deletions

diff --git a/source/blender/makesdna/DNA_action_types.h b/source/blender/makesdna/DNA_action_types.h
index 42696eeb092..43ef9f28828 100644
--- a/source/blender/makesdna/DNA_action_types.h
+++ b/source/blender/makesdna/DNA_action_types.h
@@ -146,7 +146,9 @@ typedef struct bPoseChannel {
 	float		limitmin[3], limitmax[3];	/* DOF constraint */
 	float		stiffness[3];				/* DOF stiffness */
 	float		ikstretch;
-	
+	float		ikrotweight;		/* weight of joint rotation constraint */
+	float		iklinweight;		/* weight of joint stretch constraint */
+
 	float		*path;				/* totpath x 3 x float */
 	struct Object *custom;			/* draws custom object instead of this channel */
 } bPoseChannel;
@@ -166,7 +168,8 @@ typedef enum ePchan_Flag {
 	POSE_CHAIN		=	0x0200,
 	POSE_DONE		=   0x0400,
 	POSE_KEY		=	0x1000,
-	POSE_STRIDE		=	0x2000
+	POSE_STRIDE		=	0x2000,
+	POSE_IKTREE		=   0x4000,
 } ePchan_Flag;
 
 /* PoseChannel constflag (constraint detection) */
@@ -190,9 +193,13 @@ typedef enum ePchan_IkFlag {
 	BONE_IK_YLIMIT	= (1<<4),
 	BONE_IK_ZLIMIT	= (1<<5),
 	
+	BONE_IK_ROTCTL  = (1<<6),
+	BONE_IK_LINCTL  = (1<<7),
+
 	BONE_IK_NO_XDOF_TEMP = (1<<10),
 	BONE_IK_NO_YDOF_TEMP = (1<<11),
-	BONE_IK_NO_ZDOF_TEMP = (1<<12)
+	BONE_IK_NO_ZDOF_TEMP = (1<<12),
+
 } ePchan_IkFlag;
 
 /* PoseChannel->rotmode */
@@ -209,6 +216,7 @@ typedef enum ePchan_RotMode {
 	/* NOTE: space is reserved here for 18 other possible 
 	 * euler rotation orders not implemented 
 	 */
+	PCHAN_ROT_MAX,	/* sentinel for Py API*/
 		/* axis angle rotations */
 	PCHAN_ROT_AXISANGLE = -1
 } ePchan_RotMode;
@@ -233,7 +241,9 @@ typedef struct bPose {
 	ListBase agroups;			/* list of bActionGroups */
 	
 	int active_group;			/* index of active group (starts from 1) */
-	int pad;
+	int	iksolver;				/* ik solver to use, see ePose_IKSolverType */
+	void *ikdata;				/* temporary IK data, depends on the IK solver. Not saved in file */
+	void *ikparam;				/* IK solver parameters, structure depends on iksolver */ 
 } bPose;
 
 
@@ -249,8 +259,53 @@ typedef enum ePose_Flags {
 	POSE_CONSTRAINTS_TIMEDEPEND = (1<<3),
 		/* recalculate bone paths */
 	POSE_RECALCPATHS = (1<<4),
+	    /* set by armature_rebuild_pose to give a chance to the IK solver to rebuild IK tree */
+	POSE_WAS_REBUILT = (1<<5),
+	    /* set by game_copy_pose to indicate that this pose is used in the game engine */
+	POSE_GAME_ENGINE = (1<<6),
 } ePose_Flags;
 
+/* bPose->iksolver and bPose->ikparam->iksolver */
+typedef enum {
+	IKSOLVER_LEGACY = 0,
+	IKSOLVER_ITASC,
+} ePose_IKSolverType;
+
+/* header for all bPose->ikparam structures */
+typedef struct bIKParam {
+	int   iksolver;
+} bIKParam;
+
+/* bPose->ikparam when bPose->iksolver=1 */
+typedef struct bItasc {
+	int   iksolver;
+	float precision;
+	short numiter;
+	short numstep;
+	float minstep;
+	float maxstep;
+	short solver;	
+	short flag;
+	float feedback;
+	float maxvel;	/* max velocity to SDLS solver */
+	float dampmax;	/* maximum damping for DLS solver */
+	float dampeps;	/* threshold of singular value from which the damping start progressively */
+} bItasc;
+
+/* bItasc->flag */
+typedef enum {
+	ITASC_AUTO_STEP = (1<<0),
+	ITASC_INITIAL_REITERATION = (1<<1),
+	ITASC_REITERATION = (1<<2),
+	ITASC_SIMULATION = (1<<3),
+} eItasc_Flags;
+
+/* bItasc->solver */
+typedef enum {
+	ITASC_SOLVER_SDLS = 0,	/* selective damped least square, suitable for CopyPose constraint */
+	ITASC_SOLVER_DLS		/* damped least square with numerical filtering of damping */
+} eItasc_Solver;
+
 /* ************************************************ */
 /* Action */
 
diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h
index 278da27faf9..58fa38ae159 100644
--- a/source/blender/makesdna/DNA_actuator_types.h
+++ b/source/blender/makesdna/DNA_actuator_types.h
@@ -142,7 +142,7 @@ typedef struct bGroupActuator {
 	char name[32];		/* property or groupkey */
 	
 	short pad[3], cur, butsta, butend;/* not referenced, can remove? */
-	struct Group *group;		/* only during game */
+	/* struct Group *group;		not used, remove */
 	
 } bGroupActuator;
 
@@ -224,6 +224,15 @@ typedef struct bStateActuator {
 	unsigned int mask;	/* the bits to change */
 } bStateActuator;
 
+typedef struct bArmatureActuator {
+	char posechannel[32];
+	char constraint[32];
+	int type;		/* 0=run, 1=enable, 2=disable, 3=set target, 4=set weight */
+	float weight;
+	struct Object *target;
+	struct Object *subtarget;
+} bArmatureActuator;
+
 typedef struct bActuator {
 	struct bActuator *next, *prev, *mynew;
 	short type;
@@ -295,6 +304,7 @@ typedef struct FreeCamera {
 #define ACT_PARENT      20
 #define ACT_SHAPEACTION 21
 #define ACT_STATE		22
+#define ACT_ARMATURE	23
 
 /* actuator flag */
 #define ACT_SHOW		1
@@ -484,6 +494,15 @@ typedef struct FreeCamera {
 #define ACT_PARENT_COMPOUND	1
 #define ACT_PARENT_GHOST	2
 
+/* armatureactuator->type */
+#define ACT_ARM_RUN			0
+#define ACT_ARM_ENABLE		1
+#define ACT_ARM_DISABLE		2
+#define ACT_ARM_SETTARGET	3
+#define ACT_ARM_SETWEIGHT	4
+/* update this define if more type are addedd */
+#define ACT_ARM_MAXTYPE		4
+
 #endif
 
 
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index 70430af3fc8..fccec7a556f 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -66,6 +66,9 @@ typedef struct bConstraint {
 	int			pad;
 	
 	struct Ipo *ipo;		/* local influence ipo or driver */ // XXX depreceated for 2.5... old animation system hack
+	/* below are readonly fields that are set at runtime by the solver for use in the GE (only IK atm) */
+	float       lin_error;		/* residual error on constraint expressed in blender unit*/
+	float       rot_error;		/* residual error on constraint expressed in radiant */
 } bConstraint;
 
 
@@ -119,24 +122,34 @@ typedef struct bPythonConstraint {
 } bPythonConstraint;
 
 
-/* Inverse-Kinematics (IK) constraint */
+/* inverse-Kinematics (IK) constraint
+   This constraint supports a variety of mode determine by the type field 
+   according to B_CONSTRAINT_IK_TYPE.
+   Some fields are used by all types, some are specific to some types
+   This is indicated in the comments for each field
+ */
 typedef struct bKinematicConstraint {
-	Object		*tar;
-	short		iterations;		/* Maximum number of iterations to try */
-	short		flag;			/* Like CONSTRAINT_IK_TIP */
-	short		rootbone;		/* index to rootbone, if zero go all the way to mother bone */
-	short		max_rootbone;	/* for auto-ik, maximum length of chain */
-	char		subtarget[32];	/* String to specify sub-object target */
-
-	Object		*poletar;			/* Pole vector target */
-	char		polesubtarget[32];	/* Pole vector sub-object target */
-	float		poleangle;			/* Pole vector rest angle */
-
-	float		weight;			/* Weight of goal in IK tree */
-	float		orientweight;	/* Amount of rotation a target applies on chain */
-	float		grabtarget[3];	/* for target-less IK */
+	Object		*tar;			/* All: target object in case constraint needs a target */
+	short		iterations;		/* All: Maximum number of iterations to try */
+	short		flag;			/* All & CopyPose: some options Like CONSTRAINT_IK_TIP */
+	short		rootbone;		/* All: index to rootbone, if zero go all the way to mother bone */
+	short		max_rootbone;	/* CopyPose: for auto-ik, maximum length of chain */
+	char		subtarget[32];	/* All: String to specify sub-object target */
+	Object		*poletar;			/* All: Pole vector target */
+	char		polesubtarget[32];	/* All: Pole vector sub-object target */
+	float		poleangle;			/* All: Pole vector rest angle */
+	float		weight;			/* All: Weight of constraint in IK tree */
+	float		orientweight;	/* CopyPose: Amount of rotation a target applies on chain */
+	float		grabtarget[3];	/* CopyPose: for target-less IK */
+	short		type;			/* subtype of IK constraint: B_CONSTRAINT_IK_TYPE */
+	short 		mode;			/* Distance: how to limit in relation to clamping sphere: LIMITDIST_.. */
+	float 		dist;			/* Distance: distance (radius of clamping sphere) from target */
 } bKinematicConstraint;
 
+typedef enum B_CONSTRAINT_IK_TYPE {
+	CONSTRAINT_IK_COPYPOSE = 0,		/* 'standard' IK constraint: match position and/or orientation of target */
+	CONSTRAINT_IK_DISTANCE			/* maintain distance with target */
+} B_CONSTRAINT_IK_TYPE;
 
 /* Single-target subobject constraints ---------------------  */
 /* Track To Constraint */
@@ -376,7 +389,9 @@ typedef enum B_CONSTRAINT_FLAG {
 		/* influence ipo is on constraint itself, not in action channel */
 	CONSTRAINT_OWN_IPO	= (1<<7),
 		/* indicates that constraint was added locally (i.e.  didn't come from the proxy-lib) */
-	CONSTRAINT_PROXY_LOCAL = (1<<8)
+	CONSTRAINT_PROXY_LOCAL = (1<<8),
+		/* indicates that constraint is temporarily disabled (only used in GE) */
+	CONSTRAINT_OFF = (1<<9)
 } B_CONSTRAINT_FLAG;
 
 /* bConstraint->ownspace/tarspace */
diff --git a/source/blender/makesdna/DNA_sensor_types.h b/source/blender/makesdna/DNA_sensor_types.h
index cc998de7eec..a5ba5886ed5 100644
--- a/source/blender/makesdna/DNA_sensor_types.h
+++ b/source/blender/makesdna/DNA_sensor_types.h
@@ -126,6 +126,13 @@ typedef struct bRaySensor {
 	int axisflag;
 } bRaySensor;
 
+typedef struct bArmatureSensor {
+	char posechannel[32];
+	char constraint[32];
+	int  type;
+	float value;
+} bArmatureSensor;
+
 typedef struct bMessageSensor {
 	/**
 	 * (Possible future use) pointer to a single sender object
@@ -202,6 +209,15 @@ typedef struct bJoystickSensor {
 #define SENS_MESG_MESG		0
 #define SENS_MESG_PROP		1
 
+/* bArmatureSensor->type */
+#define SENS_ARM_STATE_CHANGED		0
+#define SENS_ARM_LIN_ERROR_BELOW	1
+#define SENS_ARM_LIN_ERROR_ABOVE	2
+#define SENS_ARM_ROT_ERROR_BELOW	3
+#define SENS_ARM_ROT_ERROR_ABOVE	4
+/* update this when adding new type */
+#define SENS_ARM_MAXTYPE			4
+
 /* sensor->type */
 #define SENS_ALWAYS		0
 #define SENS_TOUCH		1
@@ -217,6 +233,7 @@ typedef struct bJoystickSensor {
 #define SENS_JOYSTICK  11
 #define SENS_ACTUATOR  12
 #define SENS_DELAY     13
+#define SENS_ARMATURE  14
 /* sensor->flag */
 #define SENS_SHOW		1
 #define SENS_DEL		2