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-rw-r--r--source/blender/blenkernel/intern/armature.c62
-rw-r--r--source/blender/blenkernel/intern/constraint.c41
2 files changed, 54 insertions, 49 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index 922ac3fd3a4..36646c85dc1 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -1129,6 +1129,24 @@ void armature_loc_world_to_pose(Object *ob, float *inloc, float *outloc)
copy_v3_v3(outloc, nLocMat[3]);
}
+/* Simple helper, computes the offset bone matrix.
+ * offs_bone = yoffs(b-1) + root(b) + bonemat(b).
+ * Not exported, as it is only used in this file currently... */
+static void get_offset_bone_mat(Bone *bone, float offs_bone[][4])
+{
+ if (!bone->parent)
+ return;
+
+ /* Bone transform itself. */
+ copy_m4_m3(offs_bone, bone->bone_mat);
+
+ /* The bone's root offset (is in the parent's coordinate system). */
+ copy_v3_v3(offs_bone[3], bone->head);
+
+ /* Get the length translation of parent (length along y axis). */
+ offs_bone[3][1] += bone->parent->length;
+}
+
/* Construct the matrices (rot/scale and loc) to apply the PoseChannels into the armature (object) space.
* I.e. (roughly) the "pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)" in the
* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b)
@@ -1157,16 +1175,9 @@ void pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float loc_m
parchan = pchan->parent;
if (parchan) {
- float offs_bone[4][4]; /* yoffs(b-1) + root(b) + bonemat(b). */
-
- /* Bone transform itself. */
- copy_m4_m3(offs_bone, bone->bone_mat);
-
- /* The bone's root offset (is in the parent's coordinate system). */
- copy_v3_v3(offs_bone[3], bone->head);
-
- /* Get the length translation of parent (length along y axis). */
- offs_bone[3][1] += parbone->length;
+ float offs_bone[4][4];
+ /* yoffs(b-1) + root(b) + bonemat(b). */
+ get_offset_bone_mat(bone, offs_bone);
/* Compose the rotscale matrix for this bone. */
if ((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) {
@@ -1297,25 +1308,31 @@ void pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float loc_m
* pose-channel into its local space (i.e. 'visual'-keyframing) */
void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outmat[][4])
{
- float rotscale_mat[4][4], loc_mat[4][4];
+ float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4];
+
+ /* Security, this allows to call with inmat == outmat! */
+ copy_m4_m4(inmat_, inmat);
pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
invert_m4(rotscale_mat);
invert_m4(loc_mat);
- mult_m4_m4m4(outmat, rotscale_mat, inmat);
- mul_v3_m4v3(outmat[3], loc_mat, inmat[3]);
+ mult_m4_m4m4(outmat, rotscale_mat, inmat_);
+ mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);
}
/* Convert Bone-Space Matrix to Pose-Space Matrix. */
void armature_mat_bone_to_pose(bPoseChannel *pchan, float inmat[][4], float outmat[][4])
{
- float rotscale_mat[4][4], loc_mat[4][4];
+ float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4];
+
+ /* Security, this allows to call with inmat == outmat! */
+ copy_m4_m4(inmat_, inmat);
pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
- mult_m4_m4m4(outmat, rotscale_mat, inmat);
- mul_v3_m4v3(outmat[3], loc_mat, inmat[3]);
+ mult_m4_m4m4(outmat, rotscale_mat, inmat_);
+ mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);
}
/* Convert Pose-Space Location to Bone-Space Location
@@ -1546,16 +1563,9 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone)
}
if (prevbone) {
- float offs_bone[4][4]; /* yoffs(b-1) + root(b) + bonemat(b) */
-
- /* bone transform itself */
- copy_m4_m3(offs_bone, bone->bone_mat);
-
- /* The bone's root offset (is in the parent's coordinate system) */
- copy_v3_v3(offs_bone[3], bone->head);
-
- /* Get the length translation of parent (length along y axis) */
- offs_bone[3][1] += prevbone->length;
+ float offs_bone[4][4];
+ /* yoffs(b-1) + root(b) + bonemat(b) */
+ get_offset_bone_mat(bone, offs_bone);
/* Compose the matrix for this bone */
mult_m4_m4m4(bone->arm_mat, prevbone->arm_mat, offs_bone);
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 833f14ff074..e8c6ec8d3ed 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -223,6 +223,7 @@ void constraints_clear_evalob (bConstraintOb *cob)
/* -------------- Space-Conversion API -------------- */
+#if 0 /* XXX Old code, does the same as one in armature.c, will remove it later. */
static void constraint_pchan_diff_mat(bPoseChannel *pchan, float diff_mat[4][4])
{
if (pchan->parent) {
@@ -265,7 +266,7 @@ static void constraint_pchan_diff_mat(bPoseChannel *pchan, float diff_mat[4][4])
copy_m4_m4(diff_mat, pchan->bone->arm_mat);
}
}
-
+#endif
/* This function is responsible for the correct transformations/conversions
* of a matrix from one space to another for constraint evaluation.
@@ -273,7 +274,6 @@ static void constraint_pchan_diff_mat(bPoseChannel *pchan, float diff_mat[4][4])
*/
void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4], short from, short to)
{
- float tempmat[4][4];
float diff_mat[4][4];
float imat[4][4];
@@ -290,8 +290,7 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
{
/* world to pose */
invert_m4_m4(imat, ob->obmat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, imat, tempmat);
+ mult_m4_m4m4(mat, imat, mat);
/* use pose-space as stepping stone for other spaces... */
if (ELEM(to, CONSTRAINT_SPACE_LOCAL, CONSTRAINT_SPACE_PARLOCAL)) {
@@ -304,32 +303,31 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
{
/* pose to world */
if (to == CONSTRAINT_SPACE_WORLD) {
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, ob->obmat, tempmat);
+ mult_m4_m4m4(mat, ob->obmat, mat);
}
/* pose to local */
else if (to == CONSTRAINT_SPACE_LOCAL) {
if (pchan->bone) {
+ armature_mat_pose_to_bone(pchan, mat, mat);
+#if 0 /* XXX Old code, will remove it later. */
constraint_pchan_diff_mat(pchan, diff_mat);
invert_m4_m4(imat, diff_mat);
-
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, imat, tempmat);
+ mult_m4_m4m4(mat, imat, mat);
/* override with local location */
if ((pchan->parent) && (pchan->bone->flag & BONE_NO_LOCAL_LOCATION)) {
armature_mat_pose_to_bone_ex(ob, pchan, pchan->pose_mat, tempmat);
copy_v3_v3(mat[3], tempmat[3]);
}
+#endif
}
}
/* pose to local with parent */
else if (to == CONSTRAINT_SPACE_PARLOCAL) {
if (pchan->bone) {
invert_m4_m4(imat, pchan->bone->arm_mat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, imat, tempmat);
+ mult_m4_m4m4(mat, imat, mat);
}
}
}
@@ -339,10 +337,12 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
/* local to pose - do inverse procedure that was done for pose to local */
if (pchan->bone) {
/* we need the posespace_matrix = local_matrix + (parent_posespace_matrix + restpos) */
+ armature_mat_bone_to_pose(pchan, mat, mat);
+#if 0
constraint_pchan_diff_mat(pchan, diff_mat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, diff_mat, tempmat);
+ mult_m4_m4m4(mat, diff_mat, mat);
+#endif
}
/* use pose-space as stepping stone for other spaces */
@@ -357,8 +357,7 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
/* local + parent to pose */
if (pchan->bone) {
copy_m4_m4(diff_mat, pchan->bone->arm_mat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, tempmat, diff_mat);
+ mult_m4_m4m4(mat, mat, diff_mat);
}
/* use pose-space as stepping stone for other spaces */
@@ -378,8 +377,7 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
/* 'subtract' parent's effects from owner */
mult_m4_m4m4(diff_mat, ob->parent->obmat, ob->parentinv);
invert_m4_m4(imat, diff_mat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, imat, tempmat);
+ mult_m4_m4m4(mat, imat, mat);
}
else {
/* Local space in this case will have to be defined as local to the owner's
@@ -390,17 +388,15 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
zero_v3(diff_mat[3]);
invert_m4_m4(imat, diff_mat);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, imat, tempmat);
+ mult_m4_m4m4(mat, imat, mat);
}
}
else if (from==CONSTRAINT_SPACE_LOCAL && to==CONSTRAINT_SPACE_WORLD) {
/* check that object has a parent - otherwise this won't work */
if (ob->parent) {
/* 'add' parent's effect back to owner */
- copy_m4_m4(tempmat, mat);
mult_m4_m4m4(diff_mat, ob->parent->obmat, ob->parentinv);
- mult_m4_m4m4(mat, diff_mat, tempmat);
+ mult_m4_m4m4(mat, diff_mat, mat);
}
else {
/* Local space in this case will have to be defined as local to the owner's
@@ -410,8 +406,7 @@ void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4
normalize_m4(diff_mat);
zero_v3(diff_mat[3]);
- copy_m4_m4(tempmat, mat);
- mult_m4_m4m4(mat, diff_mat, tempmat);
+ mult_m4_m4m4(mat, diff_mat, mat);
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-09 08:42:38 +0300