diff options
| -rw-r--r-- | source/blender/blenkernel/BKE_constraint.h | 1 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/constraint.c | 43 | ||||
| -rw-r--r-- | source/blender/blenlib/BLI_arithb.h | 7 | ||||
| -rw-r--r-- | source/blender/blenlib/intern/arithb.c | 52 | ||||
| -rw-r--r-- | source/blender/makesdna/DNA_constraint_types.h | 2 |
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 */ |