diff options
| -rw-r--r-- | source/blender/editors/transform/transform_generics.c | 4 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 55 | ||||
| -rw-r--r-- | source/blender/makesrna/intern/rna_pose.c | 4 |
3 files changed, 51 insertions, 12 deletions
diff --git a/source/blender/editors/transform/transform_generics.c b/source/blender/editors/transform/transform_generics.c index 8f1d6a7b46e..2591c61c5ab 100644 --- a/source/blender/editors/transform/transform_generics.c +++ b/source/blender/editors/transform/transform_generics.c @@ -61,6 +61,8 @@ #include "BIF_gl.h" #include "BIF_glutil.h" +#include "BIK_api.h" + #include "BKE_animsys.h" #include "BKE_action.h" #include "BKE_armature.h" @@ -847,6 +849,8 @@ static void recalcData_view3d(TransInfo *t) /* old optimize trick... this enforces to bypass the depgraph */ if (!(arm->flag & ARM_DELAYDEFORM)) { DAG_id_tag_update(&ob->id, OB_RECALC_DATA); /* sets recalc flags */ + /* transformation of pose may affect IK tree, make sure it is rebuilt */ + BIK_clear_data(ob->pose); } else BKE_pose_where_is(t->scene, ob); diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index f940d2635dc..e1ef7d92bd0 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -864,7 +864,7 @@ static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintV } // build array of joint corresponding to IK chain -static int convert_channels(IK_Scene *ikscene, PoseTree *tree) +static int convert_channels(IK_Scene *ikscene, PoseTree *tree, float ctime) { IK_Channel *ikchan; bPoseChannel *pchan; @@ -877,6 +877,14 @@ static int convert_channels(IK_Scene *ikscene, PoseTree *tree) ikchan->parent = (a > 0) ? tree->parent[a] : -1; ikchan->owner = ikscene->blArmature; + // the constraint and channels must be applied before we build the iTaSC scene, + // this is because some of the pose data (e.g. pose head) don't have corresponding + // joint angles and can't be applied to the iTaSC armature dynamically + if (!(pchan->flag & POSE_DONE)) + BKE_pose_where_is_bone(ikscene->blscene, ikscene->blArmature, pchan, ctime, 1); + // tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() + pchan->flag |= (POSE_DONE | POSE_CHAIN); + /* set DoF flag */ flag = 0; if (!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP) && @@ -1049,7 +1057,7 @@ static void BKE_pose_rest(IK_Scene *ikscene) } } -static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) +static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, float ctime) { PoseTree *tree = (PoseTree *)pchan->iktree.first; PoseTarget *target; @@ -1068,6 +1076,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) float length; bool ret = true, ingame; double *rot; + float start[3]; if (tree->totchannel == 0) return NULL; @@ -1126,7 +1135,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) std::vector<double> weights; double weight[3]; // build the array of joints corresponding to the IK chain - convert_channels(ikscene, tree); + convert_channels(ikscene, tree, ctime); if (ingame) { // in the GE, set the initial joint angle to match the current pose // this will update the jointArray in ikscene @@ -1137,17 +1146,37 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) BKE_pose_rest(ikscene); } rot = ikscene->jointArray(0); + for (a = 0, ikchan = ikscene->channels; a < tree->totchannel; ++a, ++ikchan) { pchan = ikchan->pchan; bone = pchan->bone; KDL::Frame tip(iTaSC::F_identity); + // compute the position and rotation of the head from previous segment Vector3 *fl = bone->bone_mat; KDL::Rotation brot( fl[0][0], fl[1][0], fl[2][0], fl[0][1], fl[1][1], fl[2][1], fl[0][2], fl[1][2], fl[2][2]); - KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]); + // if the bone is disconnected, the head is movable in pose mode + // take that into account by using pose matrix instead of bone + // Note that pose is expressed in armature space, convert to previous bone space + { + float R_parmat[3][3]; + float iR_parmat[3][3]; + if (pchan->parent) + copy_m3_m4(R_parmat, pchan->parent->pose_mat); + else + unit_m3(R_parmat); + if (pchan->parent) + sub_v3_v3v3(start, pchan->pose_head, pchan->parent->pose_tail); + else + start[0] = start[1] = start[2] = 0.0f; + invert_m3_m3(iR_parmat, R_parmat); + normalize_m3(iR_parmat); + mul_m3_v3(iR_parmat, start); + } + KDL::Vector bpos(start[0], start[1], start[2]); bpos *= ikscene->blScale; KDL::Frame head(brot, bpos); @@ -1155,7 +1184,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) length = bone->length * ikscene->blScale; parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root; // first the fixed segment to the bone head - if (head.p.Norm() > KDL::epsilon || head.M.GetRot().Norm() > KDL::epsilon) { + if (!(ikchan->pchan->bone->flag & BONE_CONNECTED) || head.M.GetRot().Norm() > KDL::epsilon) { joint = bone->name; joint += ":H"; ret = arm->addSegment(joint, parent, KDL::Joint::None, 0.0, head); @@ -1497,7 +1526,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) return ikscene; } -static void create_scene(Scene *scene, Object *ob) +static void create_scene(Scene *scene, Object *ob, float ctime) { bPoseChannel *pchan; @@ -1508,7 +1537,7 @@ static void create_scene(Scene *scene, Object *ob) if (tree) { IK_Data *ikdata = get_ikdata(ob->pose); // convert tree in iTaSC::Scene - IK_Scene *ikscene = convert_tree(scene, ob, pchan); + IK_Scene *ikscene = convert_tree(scene, ob, pchan, ctime); if (ikscene) { ikscene->next = ikdata->first; ikdata->first = ikscene; @@ -1732,15 +1761,21 @@ void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime) count += initialize_scene(ob, pchan); } // if at least one tree, create the scenes from the PoseTree stored in the channels - if (count) - create_scene(scene, ob); - itasc_update_param(ob->pose); + // postpone until execute_tree: this way the pose constraint are included + //if (count) + // create_scene(scene, ob, ctime); + //itasc_update_param(ob->pose); // make sure we don't rebuilt until the user changes something important ob->pose->flag &= ~POSE_WAS_REBUILT; } void itasc_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime) { + if (!ob->pose->ikdata) { + // IK tree not yet created, no it now + create_scene(scene, ob, ctime); + itasc_update_param(ob->pose); + } if (ob->pose->ikdata) { IK_Data *ikdata = (IK_Data *)ob->pose->ikdata; bItasc *ikparam = (bItasc *) ob->pose->ikparam; diff --git a/source/blender/makesrna/intern/rna_pose.c b/source/blender/makesrna/intern/rna_pose.c index 87ef3c983aa..23f61282b78 100644 --- a/source/blender/makesrna/intern/rna_pose.c +++ b/source/blender/makesrna/intern/rna_pose.c @@ -786,14 +786,14 @@ static void rna_def_pose_channel(BlenderRNA *brna) RNA_def_property_editable_array_func(prop, "rna_PoseChannel_location_editable"); RNA_def_property_ui_text(prop, "Location", ""); RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT); - RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_update"); + RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_IK_update"); prop = RNA_def_property(srna, "scale", PROP_FLOAT, PROP_XYZ); RNA_def_property_float_sdna(prop, NULL, "size"); RNA_def_property_editable_array_func(prop, "rna_PoseChannel_scale_editable"); RNA_def_property_float_array_default(prop, default_scale); RNA_def_property_ui_text(prop, "Scale", ""); - RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_update"); + RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_IK_update"); prop = RNA_def_property(srna, "rotation_quaternion", PROP_FLOAT, PROP_QUATERNION); RNA_def_property_float_sdna(prop, NULL, "quat"); |