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-rw-r--r--source/blender/blenkernel/intern/armature.c242
-rw-r--r--source/blender/blenkernel/intern/constraint.c148
-rw-r--r--source/blender/blenkernel/intern/object.c2
3 files changed, 41 insertions, 351 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index 61122610e50..b424a057cf0 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -799,12 +799,23 @@ static void execute_posechain(Object *ob, PoseChain *chain)
/* not yet free! */
}
+void free_posechain (PoseChain *chain)
+{
+ if (chain->solver) {
+ MEM_freeN (chain->solver->segments);
+ chain->solver->segments = NULL;
+ IK_FreeChain(chain->solver);
+ }
+ if(chain->pchanchain) MEM_freeN(chain->pchanchain);
+ MEM_freeN(chain);
+}
/* ********************** THE POSE SOLVER ******************* */
/* loc/rot/size to mat4 */
-static void chan_calc_mat(bPoseChannel *chan)
+/* used in constraint.c too */
+void chan_calc_mat(bPoseChannel *chan)
{
float smat[3][3];
float rmat[3][3];
@@ -820,7 +831,8 @@ static void chan_calc_mat(bPoseChannel *chan)
Mat4CpyMat3(chan->chan_mat, tmat);
/* prevent action channels breaking chains */
- if (!(chan->bone->flag & BONE_IK_TOPARENT)) {
+ /* need to check for bone here, CONSTRAINT_TYPE_ACTION uses this call */
+ if (chan->bone==NULL || !(chan->bone->flag & BONE_IK_TOPARENT)) {
VECCOPY(chan->chan_mat[3], chan->loc);
}
@@ -926,7 +938,7 @@ static void where_is_pose_bone(Object *ob, bPoseChannel *pchan)
//VECCOPY(conOb.size, pchan->size); // stretchto constraint
/* Solve */
- solve_constraints (&conOb, TARGET_BONE, (void*)bone, ctime); // ctime doesnt alter objects
+ solve_constraints (&conOb, TARGET_BONE, (void*)pchan, ctime); // ctime doesnt alter objects
//VECCOPY(bone->size, conOb.size); // stretchto constraint
@@ -1015,20 +1027,7 @@ void where_is_pose (Object *ob)
else where_is_pose_bone(ob, pchan);
}
}
-//#endif
}
-
-#if 0
- doconstraints= 1;
- for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
- where_is_pose_bone(ob, pchan);
- }
- doconstraints= 0;
- for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
- where_is_pose_bone(ob, pchan);
- pchan->flag &= ~POSE_IK_MAT;
- }
-#endif
/* calculating deform matrices */
for(pchan= ob->pose->chanbase.first; pchan; pchan= next) {
@@ -1061,214 +1060,3 @@ Bone *get_indexed_bone (Object *ob, int index)
return NULL;
}
-
-/* *********************** Inverse Kinematics ************* */
-
-#if 0
-void solve_posechain (PoseChain *chain)
-{
- float goal[3];
- int i;
- Bone *curBone;
-// float M_obmat[4][4];
-// float M_basischange[4][4];
- bPoseChannel *chan;
-
- if (!chain->solver) return;
-
- /**
- * Transform the goal from worldspace
- * to the coordinate system of the root
- * of the chain. The matrix for this
- * was computed when the chain was built
- * in ik_chain_to_posechain
- */
-
- VECCOPY (goal, chain->goal);
- Mat4MulVecfl (chain->goalinv, goal);
- /* Solve the chain */
-
- IK_SolveChain(chain->solver,
- goal,
- chain->tolerance,
- chain->iterations,
- 0.1f,
- chain->solver->segments);
-
- /* Copy the results back into the bones */
- for (i = chain->solver->num_segments-1, curBone=chain->target->parent; i>=0; i--, curBone=curBone->parent){
-// for (i = 0; i<chain->solver->num_segments; i++) {
- //curBone= bonelist[i];
-
- /* Retrieve the delta rotation from the solver */
-// Mat4One(M_basischange);
-// Mat4CpyMat3(M_basischange, (void *)chain->solver->segments[i].basis_change); //basis_change = array[9]
-// printmatrix3(curBone->name, (void *)chain->solver->segments[i].basis_change);
- /**
- * Multiply the bone's usertransform by the
- * basis change to get the new usertransform
- */
-
- //Mat4CpyMat4 (M_obmat, curBone->obmat);
- //Mat4MulMat4 (curBone->obmat, M_basischange, M_obmat);
- /* store in channel itself */
-
- chan= get_pose_channel(chain->pose, curBone->name);
- Mat3CpyMat3 (chan->ik_mat, (void *)chain->solver->segments[i].basis_change);
- chan->flag |= POSE_IK_MAT;
-
- /* Store the solve results on the childrens' channels */
- //for (chan = chain->pose->chanbase.first; chan; chan=chan->next){
- // if (!strcmp (chan->name, curBone->name)){
- // Mat4CpyMat4 (chan->obmat, curBone->obmat);
- // break;
- // }
- //}
- }
- /* WARNING! REMOVE LATER !!! */
- /* flag chain target to recalculate too */
- chan= get_pose_channel(chain->pose, chain->target->name);
- Mat3One(chan->ik_mat);
- chan->flag |= POSE_IK_MAT;
-}
-#endif
-
-void free_posechain (PoseChain *chain)
-{
- if (chain->solver) {
- MEM_freeN (chain->solver->segments);
- chain->solver->segments = NULL;
- IK_FreeChain(chain->solver);
- }
- if(chain->pchanchain) MEM_freeN(chain->pchanchain);
- MEM_freeN(chain);
-}
-
-#if 0
-/* actually; bones to IK_solver data */
-/* Object is its own Armature object */
-PoseChain *ik_chain_to_posechain (Object *ob, Bone *bone)
-{
- IK_Segment_Extern *segs;
- PoseChain *chain = NULL;
- Bone *curBone, *rootBone;
- int segcount, curseg, icurseg;
- float imat[4][4];
- bPoseChannel *pchan;
- Bone *bonelist[256];
- float rootmat[4][4];
-// float bonespace[4][4];
-
- /**
- * Some interesting variables in this function:
- *
- * Bone->obmat Bone's user transformation;
- * It is initialized in where_is_b one1_time
- *
- * rootmat Bone's coordinate system, computed by
- * get_objectspace_bone_matrix. Takes all
- * parents transformations into account.
- */
-
-
-
- /* Ensure that all of the bone parent matrices are correct */
-
- /* Find the chain's root & count the segments needed */
- segcount = 0;
- for (curBone = bone; curBone; curBone=curBone->parent){
- rootBone = curBone;
- if (curBone!=bone){
- bonelist[segcount]=curBone;
- segcount++;
- }
- if (!curBone->parent)
- break;
- else if (!(curBone->flag & BONE_IK_TOPARENT))
- break;
- }
-
- if (!segcount)
- return NULL;
-
-
- /**
- * Initialize a record to store information about the original bones
- * This will be the return value for this function.
- */
-
- chain = MEM_callocN(sizeof(PoseChain), "posechain");
- chain->solver = IK_CreateChain();
- chain->target = bone;
- chain->root = rootBone;
- chain->pose = ob->pose;
-
- /* Allocate some IK segments */
- segs = MEM_callocN (sizeof(IK_Segment_Extern)*segcount, "iksegments");
-
- //printf("segcount %d\n", segcount);
- /**
- * Remove the offset from the first bone in the chain and take the target to chainspace
- */
-
- //get_objectspace_bone_matrix(rootBone, bonespace, 1, 1);
- //Mat4One (rootmat);
- //VECCOPY (rootmat[3], bonespace[3]);
- pchan= get_pose_channel(ob->pose, rootBone->name);
- Mat4One(rootmat);
- VECCOPY(rootmat[3], pchan->pose_head);
-
- /* Take the target to bonespace */
- /* (ton) I think it's the matrix to take a world coordinate into "chainspace" */
- Mat4MulMat4 (imat, rootmat, ob->obmat);
- Mat4Invert (chain->goalinv, imat);
-
- /**
- * Build matrices from the root to the tip
- * We count backwards through the bone list (which is sorted tip to root)
- * and forwards through the ik_segment list
- */
- /* that we're going to recode! (ton) */
- for (curseg = segcount-1; curseg>=0; curseg--){
- float M_basismat[4][4];
- float R_parmat[4][4];
- float iR_parmat[4][4];
- float R_bonemat[4][4];
-
- /* Retrieve the corresponding bone for this segment */
- icurseg=segcount-curseg-1;
- curBone = bonelist[curseg];
-
- /* Get the basis matrix */
- Mat4One (R_parmat);
- //get_objectspace_bone_matrix(curBone, R_bonemat, 1, 1);
- //R_bonemat[3][0]=R_bonemat[3][1]=R_bonemat[3][2]=0.0F;
- pchan= get_pose_channel(ob->pose, curBone->name);
- Mat4CpyMat4(R_bonemat, pchan->pose_mat);
- R_bonemat[3][0]=R_bonemat[3][1]=R_bonemat[3][2]=0.0F;
-
- if (curBone->parent && (curBone->flag & BONE_IK_TOPARENT)) {
- //get_objectspace_bone_matrix(curBone->parent, R_parmat, 1, 1);
- Mat4CpyMat4(R_parmat, pchan->parent->pose_mat);
-
- R_parmat[3][0]=R_parmat[3][1]=R_parmat[3][2]=0.0F;
- }
-
- Mat4Invert(iR_parmat, R_parmat);
- Mat4MulMat4(M_basismat, R_bonemat, iR_parmat);
-
- /* Copy the matrix into the basis and transpose */
- Mat3CpyMat4((void *)segs[icurseg].basis, M_basismat); // basis = array[9]
- Mat3Transp((void *)segs[icurseg].basis);
-
- /* Fill out the IK segment */
- segs[icurseg].length = VecLenf(curBone->head, curBone->tail);
-
- }
-
- IK_LoadChain(chain->solver, segs, segcount);
-
- return chain;
-}
-
-#endif
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index f373c7f9062..800940ae5c4 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -687,6 +687,7 @@ static void constraint_target_to_mat4 (Object *ob, const char *substring, float
/* called during solve_constraints */
/* also for make_parent, to find correct inverse of "follow path" */
+/* warning, ownerdata is void... is not Bone anymore, but posechannel */
short get_constraint_target_matrix (bConstraint *con, short ownertype, void* ownerdata, float mat[][4], float size[3], float ctime)
{
short valid=0;
@@ -699,45 +700,29 @@ short get_constraint_target_matrix (bConstraint *con, short ownertype, void* own
break;
case CONSTRAINT_TYPE_ACTION:
{
- if (ownertype == TARGET_BONE){
+ if (ownertype == TARGET_BONE) {
+ extern void chan_calc_mat(bPoseChannel *chan);
bActionConstraint *data = (bActionConstraint*)con->data;
bPose *pose=NULL;
- bPoseChannel *pchan=NULL;
- float tempmat[4][4], imat[4][4], ans[4][4], restmat[4][4], irestmat[4][4];
+ bPoseChannel *pchan, *tchan;
+ float ans[4][4];
float tempmat3[3][3];
- float eul[3], size[3];
+ float eul[3];
float s,t;
- Bone *curBone;
- Bone tbone;
-// int i;
- curBone = (Bone*)ownerdata;
+ Mat4One(mat);
- if (data->tar){
- constraint_target_to_mat4(data->tar, data->subtarget, tempmat, size, ctime);
- valid=1;
- }
- else
- Mat4One (tempmat);
+ if (data->tar==NULL) return 0;
- /* If this is a bone, undo parent transforms */
- if (strlen(data->subtarget)){
- Bone* bone;
-
- Mat4Invert(imat, data->tar->obmat);
- bone = get_named_bone(get_armature(data->tar), data->subtarget);
- if (bone){
- get_objectspace_bone_matrix(bone, restmat, 1, 0);
- Mat4Invert(irestmat, restmat);
- }
- }
- else{
- Mat4One(imat);
- Mat4One(irestmat);
+ /* proper check for bone... (todo) */
+ if(data->subtarget[0]) {
+ //pchan = get_pose_channel(ob->pose, substring);
+ //if (pchan) {
+ //}
}
-
- Mat4MulSerie(ans, imat, tempmat, irestmat, NULL, NULL, NULL, NULL, NULL);
+ constraint_target_to_mat4(data->tar, data->subtarget, ans, size, ctime);
+ /* extract rotation */
Mat3CpyMat4(tempmat3, ans);
Mat3ToEul(tempmat3, eul);
@@ -745,7 +730,7 @@ short get_constraint_target_matrix (bConstraint *con, short ownertype, void* own
eul[1]*=(float)(180.0/M_PI);
eul[2]*=(float)(180.0/M_PI);
- /* Target is the animation */
+ /* Target defines the animation */
s = (eul[data->type]-data->min)/(data->max-data->min);
if (s<0)
s=0;
@@ -753,29 +738,18 @@ short get_constraint_target_matrix (bConstraint *con, short ownertype, void* own
s=1;
t = ( s * (data->end-data->start)) + data->start;
-
- /* Get the appropriate information from the action */
+
+ /* Get the appropriate information from the action, we make temp pose */
pose = MEM_callocN(sizeof(bPose), "pose");
- verify_pose_channel(pose, curBone->name);
+ pchan = ownerdata;
+ tchan= verify_pose_channel(pose, pchan->name);
extract_pose_from_action (pose, data->act, t);
+
+ chan_calc_mat(tchan);
+
+ Mat4CpyMat4(mat, tchan->chan_mat);
- /* Find the appropriate channel */
- pchan = get_pose_channel(pose, curBone->name);
- if (pchan){
- memset(&tbone, 0x00, sizeof(Bone));
-
-// VECCOPY (tbone.loc, pchan->loc);
-// VECCOPY (tbone.size, pchan->size);
-// for (i=0; i<4; i++)
-// tbone.quat[i]=pchan->quat[i];
-//
-// bone_to_mat4(&tbone, mat);
-
- }
- else{
- Mat4One(mat);
- }
/* Clean up */
free_pose_channels(pose);
MEM_freeN(pose);
@@ -1029,79 +1003,7 @@ void evaluate_constraint (bConstraint *constraint, Object *ob, short ownertype,
break;
case CONSTRAINT_TYPE_KINEMATIC:
{
-#if 0
- bKinematicConstraint *data;
- float imat[4][4];
- float temp[4][4];
- float totmat[4][4];
-
- data=(bKinematicConstraint*)constraint->data;
-
- if (data->tar && ownertype==TARGET_BONE && ownerdata){
- Bone *curBone = (Bone*)ownerdata;
- PoseChain *chain;
- Object *armob;
-
- /* Retrieve the owner armature object from the workob */
- armob = ob->parent;
-
- /* Make an IK chain */
- chain = ik_chain_to_posechain(armob, curBone);
- if (!chain)
- return;
- chain->iterations = data->iterations;
- chain->tolerance = data->tolerance;
-
-
- if(0) {
- bPoseChannel *pchan= get_pose_channel(armob->pose, curBone->name);
- float parmat[4][4];
-
- /* Take the obmat to objectspace */
-
-// Mat4CpyMat4 (temp, curBone->obmat);
-// Mat4One (curBone->obmat);
-// get_objectspace_bone_matrix(curBone, parmat, 1, 1);
- Mat4CpyMat4(parmat, pchan->pose_mat);
-
-// Mat4CpyMat4 (curBone->obmat, temp);
- Mat4MulMat4 (totmat, parmat, armob->obmat);
-
- Mat4Invert (imat, totmat);
-
- Mat4CpyMat4 (temp, ob->obmat);
- Mat4MulMat4 (ob->obmat, temp, imat);
- }
-
-
- /* Solve it */
- if (chain->solver){
- VECCOPY (chain->goal, targetmat[3]);
- solve_posechain(chain); // applies to bones/channels
- }
-
- free_posechain(chain);
-
- if(0) {
- float parmat[4][4];
- bPoseChannel *pchan= get_pose_channel(armob->pose, curBone->name);
-
- /* Take the obmat to worldspace */
-// Mat4CpyMat4 (temp, curBone->obmat);
-// Mat4One (curBone->obmat);
-
-// get_objectspace_bone_matrix(curBone, parmat, 1, 1);
- Mat4CpyMat4(parmat, pchan->pose_mat);
-
-// Mat4CpyMat4 (curBone->obmat, temp);
- Mat4MulMat4 (totmat, parmat, armob->obmat);
-
- Mat4CpyMat4 (temp, ob->obmat);
- Mat4MulMat4 (ob->obmat, temp, totmat);
-
- }
- }
-#endif
+ /* removed */
}
break;
case CONSTRAINT_TYPE_LOCKTRACK:
diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 68aa863d22c..a2c0e9241db 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -1095,7 +1095,7 @@ void ob_parbone(Object *ob, Object *par, float mat[][4])
/* Make sure the bone is still valid */
pchan= get_pose_channel(par->pose, ob->parsubstr);
if (!pchan){
- printf ("Lost bone %s\n", ob->parsubstr);
+ printf ("Bone parent: no bone %s\n", ob->parsubstr);
Mat4One(mat);
return;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-30 12:01:37 +0300