2.5 - Rotation order is now taken into account for constraints

* Added a 'rotOrder' parameter for constraint evaluation objects and constraint targets, which describes the rotation mode used for the matrices there. 

Todos:
* Constraint targets default to using XYZ only for now. This will need be be addressed eventually.
* Copy Rotation constraint currently cannot use the new rotation order code for the target matrix. What's surprising is that even though it's just using XYZ as the old code did, it doesn't work, and yet everything else works nicely. Silly constraint! (it is almost impossible to improve this constraint further without breaking a rig out there)

5 files changed, 83 insertions, 22 deletions

diff --git a/source/blender/blenkernel/BKE_constraint.h b/source/blender/blenkernel/BKE_constraint.h
index 6e69906b71d..a0061173438 100644
--- a/source/blender/blenkernel/BKE_constraint.h
+++ b/source/blender/blenkernel/BKE_constraint.h
@@ -49,6 +49,7 @@ typedef struct bConstraintOb {
 	float startmat[4][4];		/* original matrix (before constraint solving) */
 	
 	short type;					/* type of owner  */
+	short rotOrder;				/* rotation order for constraint owner (as defined in eEulerRotationOrders in BLI_arithb.h) */
 } bConstraintOb;
 
 /* ---------------------------------------------------------------------------- */
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 88e73a00ba7..e6e65ebd614 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -121,6 +121,7 @@ bConstraintOb *constraints_make_evalob (Scene *scene, Object *ob, void *subdata,
 			if (ob) {
 				cob->ob = ob;
 				cob->type = datatype;
+				cob->rotOrder = EULER_ORDER_DEFAULT; // TODO: when objects have rotation order too, use that
 				Mat4CpyMat4(cob->matrix, ob->obmat);
 			}
 			else
@@ -137,6 +138,15 @@ bConstraintOb *constraints_make_evalob (Scene *scene, Object *ob, void *subdata,
 				cob->pchan = (bPoseChannel *)subdata;
 				cob->type = datatype;
 				
+				if (cob->pchan->rotmode > 0) {
+					/* should be some type of Euler order */
+					cob->rotOrder= cob->pchan->rotmode; 
+				}
+				else {
+					/* Quats, so eulers should just use default order */
+					cob->rotOrder= EULER_ORDER_DEFAULT;
+				}
+				
 				/* matrix in world-space */
 				Mat4MulMat4(cob->matrix, cob->pchan->pose_mat, ob->obmat);
 			}
@@ -664,6 +674,7 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
+// TODO: cope with getting rotation order...
 #define SINGLETARGET_GET_TARS(con, datatar, datasubtarget, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
@@ -687,6 +698,7 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
+// TODO: cope with getting rotation order...
 #define SINGLETARGETNS_GET_TARS(con, datatar, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
@@ -795,11 +807,11 @@ static void childof_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *ta
 		
 		/* extract components of both matrices */
 		VECCOPY(loc, ct->matrix[3]);
-		Mat4ToEul(ct->matrix, eul);
+		Mat4ToEulO(ct->matrix, eul, ct->rotOrder);
 		Mat4ToSize(ct->matrix, size);
 		
 		VECCOPY(loco, invmat[3]);
-		Mat4ToEul(invmat, eulo);
+		Mat4ToEulO(invmat, eulo, cob->rotOrder);
 		Mat4ToSize(invmat, sizo);
 		
 		/* disable channels not enabled */
@@ -814,8 +826,8 @@ static void childof_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *ta
 		if (!(data->flag & CHILDOF_SIZEZ)) size[2]= sizo[2]= 1.0f;
 		
 		/* make new target mat and offset mat */
-		LocEulSizeToMat4(ct->matrix, loc, eul, size);
-		LocEulSizeToMat4(invmat, loco, eulo, sizo);
+		LocEulOSizeToMat4(ct->matrix, loc, eul, size, ct->rotOrder);
+		LocEulOSizeToMat4(invmat, loco, eulo, sizo, cob->rotOrder);
 		
 		/* multiply target (parent matrix) by offset (parent inverse) to get 
 		 * the effect of the parent that will be exherted on the owner
@@ -1304,7 +1316,7 @@ static void rotlimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *t
 	VECCOPY(loc, cob->matrix[3]);
 	Mat4ToSize(cob->matrix, size);
 	
-	Mat4ToEul(cob->matrix, eul);
+	Mat4ToEulO(cob->matrix, eul, cob->rotOrder);
 	
 	/* eulers: radians to degrees! */
 	eul[0] = (float)(eul[0] / M_PI * 180);
@@ -1339,7 +1351,7 @@ static void rotlimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *t
 	eul[1] = (float)(eul[1] / 180 * M_PI);
 	eul[2] = (float)(eul[2] / 180 * M_PI);
 	
-	LocEulSizeToMat4(cob->matrix, loc, eul, size);
+	LocEulOSizeToMat4(cob->matrix, loc, eul, size, cob->rotOrder);
 }
 
 static bConstraintTypeInfo CTI_ROTLIMIT = {
@@ -1546,14 +1558,15 @@ static void rotlike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *ta
 		VECCOPY(loc, cob->matrix[3]);
 		Mat4ToSize(cob->matrix, size);
 		
-		Mat4ToEul(ct->matrix, eul);
-		Mat4ToEul(cob->matrix, obeul);
+		//Mat4ToEulO(ct->matrix, eul, ct->rotOrder);
+		Mat4ToEul(ct->matrix, eul); // the version we should be using causes errors...
+		Mat4ToEulO(cob->matrix, obeul, cob->rotOrder);
 		
 		if ((data->flag & ROTLIKE_X)==0)
 			eul[0] = obeul[0];
 		else {
 			if (data->flag & ROTLIKE_OFFSET)
-				euler_rot(eul, obeul[0], 'x');
+				eulerO_rot(eul, obeul[0], 'x', cob->rotOrder);
 			
 			if (data->flag & ROTLIKE_X_INVERT)
 				eul[0] *= -1;
@@ -1563,7 +1576,7 @@ static void rotlike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *ta
 			eul[1] = obeul[1];
 		else {
 			if (data->flag & ROTLIKE_OFFSET)
-				euler_rot(eul, obeul[1], 'y');
+				eulerO_rot(eul, obeul[1], 'y', cob->rotOrder);
 			
 			if (data->flag & ROTLIKE_Y_INVERT)
 				eul[1] *= -1;
@@ -1573,14 +1586,14 @@ static void rotlike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *ta
 			eul[2] = obeul[2];
 		else {
 			if (data->flag & ROTLIKE_OFFSET)
-				euler_rot(eul, obeul[2], 'z');
+				eulerO_rot(eul, obeul[2], 'z', cob->rotOrder);
 			
 			if (data->flag & ROTLIKE_Z_INVERT)
 				eul[2] *= -1;
 		}
 		
 		compatible_eul(eul, obeul);
-		LocEulSizeToMat4(cob->matrix, loc, eul, size);
+		LocEulOSizeToMat4(cob->matrix, loc, eul, size, cob->rotOrder);
 	}
 }
 
@@ -3036,7 +3049,7 @@ static void transform_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *
 				Mat4ToSize(ct->matrix, dvec);
 				break;
 			case 1: /* rotation (convert to degrees first) */
-				Mat4ToEul(ct->matrix, dvec);
+				Mat4ToEulO(ct->matrix, dvec, cob->rotOrder);
 				for (i=0; i<3; i++)
 					dvec[i] = (float)(dvec[i] / M_PI * 180);
 				break;
@@ -3047,7 +3060,7 @@ static void transform_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *
 		
 		/* extract components of owner's matrix */
 		VECCOPY(loc, cob->matrix[3]);
-		Mat4ToEul(cob->matrix, eul);
+		Mat4ToEulO(cob->matrix, eul, cob->rotOrder);
 		Mat4ToSize(cob->matrix, size);	
 		
 		/* determine where in range current transforms lie */
@@ -3102,7 +3115,7 @@ static void transform_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *
 		}
 		
 		/* apply to matrix */
-		LocEulSizeToMat4(cob->matrix, loc, eul, size);
+		LocEulOSizeToMat4(cob->matrix, loc, eul, size, cob->rotOrder);
 	}
 }
 
diff --git a/source/blender/blenlib/BLI_arithb.h b/source/blender/blenlib/BLI_arithb.h
index 5f3622e8aa5..2ab60c6a8d0 100644
--- a/source/blender/blenlib/BLI_arithb.h
+++ b/source/blender/blenlib/BLI_arithb.h
@@ -202,6 +202,8 @@ void Mat3ToEulO(float Mat[3][3], float eul[3], short order);
 void Mat4ToEulO(float Mat[4][4], float eul[3], short order);
 
 void Mat3ToCompatibleEulO(float mat[3][3], float eul[3], float oldrot[3], short order);
+
+void eulerO_rot(float beul[3], float ang, char axis, short order);
  
 /**
  * @section Euler conversion routines (Blender XYZ)
@@ -484,8 +486,9 @@ void Mat4ToSize(float mat[][4], float *size);
 
 void triatoquat(float *v1, float *v2, float *v3, float *quat);
 
-void LocEulSizeToMat4(float mat[][4], float loc[3], float eul[3], float size[3]);
-void LocQuatSizeToMat4(float mat[][4], float loc[3], float quat[4], float size[3]);
+void LocEulSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3]);
+void LocEulOSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3], short rotOrder);
+void LocQuatSizeToMat4(float mat[4][4], float loc[3], float quat[4], float size[3]);
 
 void tubemap(float x, float y, float z, float *u, float *v);
 void spheremap(float x, float y, float z, float *u, float *v);
diff --git a/source/blender/blenlib/intern/arithb.c b/source/blender/blenlib/intern/arithb.c
index 64fb7d78ef1..9d67ac50108 100644
--- a/source/blender/blenlib/intern/arithb.c
+++ b/source/blender/blenlib/intern/arithb.c
@@ -2825,7 +2825,6 @@ static RotOrderInfo rotOrders[]= {
  * NOTE: since we start at 1 for the values, but arrays index from 0, 
  *		 there is -1 factor involved in this process...
  */
-// FIXME: what happens when invalid order given
 #define GET_ROTATIONORDER_INFO(order) (((order)>=1) ? &rotOrders[(order)-1] : &rotOrders[0])
 
 /* Construct quaternion from Euler angles (in radians). */
@@ -2936,6 +2935,7 @@ void Mat4ToEulO(float M[4][4], float e[3], short order)
 	
 	/* for now, we'll just do this the slow way (i.e. copying matrices) */
 	Mat3CpyMat4(m, M);
+	Mat3Ortho(m);
 	Mat3ToEulO(m, e, order);
 }
 
@@ -2996,7 +2996,27 @@ void Mat3ToCompatibleEulO(float mat[3][3], float eul[3], float oldrot[3], short
 		VecCopyf(eul, eul1);
 }
 
-
+/* rotate the given euler by the given angle on the specified axis */
+// NOTE: is this safe to do with different axis orders?
+void eulerO_rot(float beul[3], float ang, char axis, short order)
+{
+	float eul[3], mat1[3][3], mat2[3][3], totmat[3][3];
+	
+	eul[0]= eul[1]= eul[2]= 0.0f;
+	if (axis=='x') 
+		eul[0]= ang;
+	else if (axis=='y') 
+		eul[1]= ang;
+	else 
+		eul[2]= ang;
+	
+	EulOToMat3(eul, order, mat1);
+	EulOToMat3(beul, order, mat2);
+	
+	Mat3MulMat3(totmat, mat2, mat1);
+	
+	Mat3ToEulO(totmat, beul, order);
+}
 
 /* ************ EULER (old XYZ) *************** */
 
@@ -4947,7 +4967,7 @@ float PdistVL3Dfl(float *v1, float *v2, float *v3)
 /* make a 4x4 matrix out of 3 transform components */
 /* matrices are made in the order: scale * rot * loc */
 // TODO: need to have a version that allows for rotation order...
-void LocEulSizeToMat4(float mat[][4], float loc[3], float eul[3], float size[3])
+void LocEulSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3])
 {
 	float rmat[3][3], smat[3][3], tmat[3][3];
 	
@@ -4970,7 +4990,31 @@ void LocEulSizeToMat4(float mat[][4], float loc[3], float eul[3], float size[3])
 
 /* make a 4x4 matrix out of 3 transform components */
 /* matrices are made in the order: scale * rot * loc */
-void LocQuatSizeToMat4(float mat[][4], float loc[3], float quat[4], float size[3])
+void LocEulOSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3], short rotOrder)
+{
+	float rmat[3][3], smat[3][3], tmat[3][3];
+	
+	/* initialise new matrix */
+	Mat4One(mat);
+	
+	/* make rotation + scaling part */
+	EulOToMat3(eul, rotOrder, rmat);
+	SizeToMat3(size, smat);
+	Mat3MulMat3(tmat, rmat, smat);
+	
+	/* copy rot/scale part to output matrix*/
+	Mat4CpyMat3(mat, tmat);
+	
+	/* copy location to matrix */
+	mat[3][0] = loc[0];
+	mat[3][1] = loc[1];
+	mat[3][2] = loc[2];
+}
+
+
+/* make a 4x4 matrix out of 3 transform components */
+/* matrices are made in the order: scale * rot * loc */
+void LocQuatSizeToMat4(float mat[4][4], float loc[3], float quat[4], float size[3])
 {
 	float rmat[3][3], smat[3][3], tmat[3][3];
 	
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index 79f032d0d21..6fab633b192 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -85,7 +85,7 @@ typedef struct bConstraintTarget {
 	short space;			/* space that target should be evaluated in (overrides bConstraint->tarspace) */
 	short flag;				/* runtime settings (for editor, etc.) */
 	short type;				/* type of target (B_CONSTRAINT_OB_TYPE) */
-	short pad;
+	short rotOrder;			/* rotation order for target (as defined in BLI_arithb.h) */
 } bConstraintTarget;
 
 /* bConstraintTarget -> flag */