diff options
-rw-r--r-- | source/blender/blenkernel/BKE_armature.h | 4 | ||||
-rw-r--r-- | source/blender/blenkernel/intern/armature.c | 332 | ||||
-rw-r--r-- | source/blender/editors/space_view3d/view3d_snap.c | 15 | ||||
-rw-r--r-- | source/blender/editors/transform/transform_conversions.c | 48 |
4 files changed, 240 insertions, 159 deletions
diff --git a/source/blender/blenkernel/BKE_armature.h b/source/blender/blenkernel/BKE_armature.h index b301b7cf03b..a89bfbd50b1 100644 --- a/source/blender/blenkernel/BKE_armature.h +++ b/source/blender/blenkernel/BKE_armature.h @@ -114,6 +114,10 @@ void pchan_apply_mat4(struct bPoseChannel *pchan, float mat[][4], short use_coma void pchan_to_mat4(struct bPoseChannel *pchan, float chan_mat[4][4]); void pchan_calc_mat(struct bPoseChannel *pchan); +/* Get the "pchan to pose" transform matrix. These matrices apply the effects of + * HINGE/NO_SCALE/NO_LOCAL_LOCATION options over the pchan loc/rot/scale transformations. */ +void pchan_to_pose_mat(struct bPoseChannel *pchan, float rotscale_mat[][4], float loc_mat[][4]); + /* Rotation Mode Conversions - Used for PoseChannels + Objects... */ void BKE_rotMode_change_values(float quat[4], float eul[3], float axis[3], float *angle, short oldMode, short newMode); diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index ae04b7760c2..4f83bcf7e7f 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -590,7 +590,7 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) /* ************ Armature Deform ******************* */ typedef struct bPoseChanDeform { - Mat4 *b_bone_mats; + Mat4 *b_bone_mats; DualQuat *dual_quat; DualQuat *b_bone_dual_quats; } bPoseChanDeform; @@ -1123,66 +1123,183 @@ void armature_loc_world_to_pose(Object *ob, float *inloc, float *outloc) copy_v3_v3(outloc, nLocMat[3]); } -/* Convert Pose-Space Matrix to Bone-Space Matrix - * NOTE: this cannot be used to convert to pose-space transforms of the supplied - * pose-channel into its local space (i.e. 'visual'-keyframing) +/* 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) + * ...function. + * + * This allows to get the transformations of a bone in its object space, *before* constraints (and IK) + * get applied (used by pose evaluation code). + * And reverse: to find pchan transformations needed to place a bone at a given loc/rot/scale + * in object space (used by interactive transform, and snapping code). + * + * Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location matrix + * will differ from the rotation/scale matrix... + * + * NOTE: This cannot be used to convert to pose-space transforms of the supplied + * pose-channel into its local space (i.e. 'visual'-keyframing). + * (note: I don't understand that, so I keep it :p --mont29). */ -void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outmat[][4]) +void pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float loc_mat[][4]) { - float pc_trans[4][4], inv_trans[4][4]; - float pc_posemat[4][4], inv_posemat[4][4]; - float pose_mat[4][4]; - - /* paranoia: prevent crashes with no pose-channel supplied */ - if (pchan==NULL) return; - - /* default flag */ - if((pchan->bone->flag & BONE_NO_LOCAL_LOCATION)==0) { - /* get the inverse matrix of the pchan's transforms */ - switch(pchan->rotmode) { - case ROT_MODE_QUAT: - loc_quat_size_to_mat4(pc_trans, pchan->loc, pchan->quat, pchan->size); - break; - case ROT_MODE_AXISANGLE: - loc_axisangle_size_to_mat4(pc_trans, pchan->loc, pchan->rotAxis, pchan->rotAngle, pchan->size); - break; - default: /* euler */ - loc_eul_size_to_mat4(pc_trans, pchan->loc, pchan->eul, pchan->size); + Bone *bone, *parbone; + bPoseChannel *parchan; + + /* set up variables for quicker access below */ + bone= pchan->bone; + parbone= bone->parent; + 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; + + /* Compose the rotscale matrix for this bone. */ + if((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) { + /* Parent rest rotation and scale. */ + mult_m4_m4m4(rotscale_mat, parbone->arm_mat, offs_bone); } + else if(bone->flag & BONE_HINGE) { + /* Parent rest rotation and pose scale. */ + float tmat[4][4], tscale[3]; - copy_m4_m4(pose_mat, pchan->pose_mat); - } - else { - /* local location, this is not default, different calculation - * note: only tested for location with pose bone snapping. - * If this is not useful in other cases the BONE_NO_LOCAL_LOCATION - * case may have to be split into its own function. */ - unit_m4(pc_trans); - copy_v3_v3(pc_trans[3], pchan->loc); + /* Extract the scale of the parent pose matrix. */ + mat4_to_size(tscale, parchan->pose_mat); + size_to_mat4(tmat, tscale); + + /* Applies the parent pose scale to the rest matrix. */ + mult_m4_m4m4(tmat, tmat, parbone->arm_mat); + + mult_m4_m4m4(rotscale_mat, tmat, offs_bone); + } + else if(bone->flag & BONE_NO_SCALE) { + /* Parent pose rotation and rest scale (i.e. no scaling). */ + float tmat[4][4]; + copy_m4_m4(tmat, parchan->pose_mat); + normalize_m4(tmat); + mult_m4_m4m4(rotscale_mat, tmat, offs_bone); + } + else + mult_m4_m4m4(rotscale_mat, parchan->pose_mat, offs_bone); + +# if 1 + /* Compose the loc matrix for this bone. */ + /* NOTE: That version deos not modify bone's loc when HINGE/NO_SCALE options are set. */ - /* use parents rotation/scale space + own absolute position */ - if(pchan->parent) copy_m4_m4(pose_mat, pchan->parent->pose_mat); - else unit_m4(pose_mat); + /* In this case, use the object's space *orientation*. */ + if(bone->flag & BONE_NO_LOCAL_LOCATION) { + /* XXX I'm sure that code can be simplified! */ + float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4], tmat3[3][3]; + unit_m4(bone_loc); + unit_m4(loc_mat); + unit_m4(tmat4); + + mul_v3_m4v3(bone_loc[3], parchan->pose_mat, offs_bone[3]); + + unit_m3(bone_rotscale); + copy_m3_m4(tmat3, parchan->pose_mat); + mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); + + copy_m4_m3(tmat4, bone_rotscale); + mult_m4_m4m4(loc_mat, bone_loc, tmat4); + } + /* Those flags do not affect position, use plain parent transform space! */ + else if(bone->flag & (BONE_HINGE|BONE_NO_SCALE)) { + mult_m4_m4m4(loc_mat, parchan->pose_mat, offs_bone); + } + /* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */ + else + copy_m4_m4(loc_mat, rotscale_mat); +# endif +# if 0 + /* Compose the loc matrix for this bone. */ + /* NOTE: That version modifies bone's loc when HINGE/NO_SCALE options are set. */ + + /* In these cases we need to compute location separately */ + if(bone->flag & (BONE_HINGE|BONE_NO_SCALE|BONE_NO_LOCAL_LOCATION)) { + float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4], tmat3[3][3]; + unit_m4(bone_loc); + unit_m4(loc_mat); + unit_m4(tmat4); + + mul_v3_m4v3(bone_loc[3], parchan->pose_mat, offs_bone[3]); + + /* "No local location" is not transformed by bone matrix. */ + /* This only affects orientations (rotations), as scale is always 1.0 here. */ + if(bone->flag & BONE_NO_LOCAL_LOCATION) + unit_m3(bone_rotscale); + else + /* We could also use bone->bone_mat directly, here... */ + copy_m3_m4(bone_rotscale, offs_bone); + + if(bone->flag & BONE_HINGE) { + copy_m3_m4(tmat3, parbone->arm_mat); + /* for hinge-only, we use armature *rotation*, but pose mat *scale*! */ + if(!(bone->flag & BONE_NO_SCALE)) { + float size[3], tsmat[3][3]; + mat4_to_size(size, parchan->pose_mat); + size_to_mat3(tsmat, size); + mul_m3_m3m3(tmat3, tsmat, tmat3); + } + mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); + } + else if(bone->flag & BONE_NO_SCALE) { + /* For no-scale only, normalized parent pose mat is enough! */ + copy_m3_m4(tmat3, parchan->pose_mat); + normalize_m3(tmat3); + mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); + } + /* NO_LOCAL_LOCATION only. */ + else { + copy_m3_m4(tmat3, parchan->pose_mat); + mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); + } - copy_v3_v3(pose_mat[3], pchan->pose_mat[3]); + copy_m4_m3(tmat4, bone_rotscale); + mult_m4_m4m4(loc_mat, bone_loc, tmat4); + } + /* Else, just use the same matrix for rotation/scaling, and location. */ + else + copy_m4_m4(loc_mat, rotscale_mat); +# endif } + /* Root bones. */ + else { + /* Rotation/scaling. */ + copy_m4_m4(rotscale_mat, pchan->bone->arm_mat); + /* Translation. */ + if(pchan->bone->flag & BONE_NO_LOCAL_LOCATION) { + /* Translation of arm_mat, without the rotation. */ + unit_m4(loc_mat); + copy_v3_v3(loc_mat[3], pchan->bone->arm_mat[3]); + } + else + copy_m4_m4(loc_mat, rotscale_mat); + } +} + +/* Convert Pose-Space Matrix to Bone-Space Matrix. + * NOTE: this cannot be used to convert to pose-space transforms of the supplied + * 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]; + pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); + invert_m4(rotscale_mat); + invert_m4(loc_mat); - invert_m4_m4(inv_trans, pc_trans); - - /* Remove the pchan's transforms from it's pose_mat. - * This should leave behind the effects of restpose + - * parenting + constraints - */ - mult_m4_m4m4(pc_posemat, pose_mat, inv_trans); - - /* get the inverse of the leftovers so that we can remove - * that component from the supplied matrix - */ - invert_m4_m4(inv_posemat, pc_posemat); - - /* get the new matrix */ - mult_m4_m4m4(outmat, inv_posemat, inmat); + mult_m4_m4m4(outmat, rotscale_mat, inmat); + mul_v3_m4v3(outmat[3], loc_mat, inmat[3]); } /* Convert Pose-Space Location to Bone-Space Location @@ -2263,98 +2380,30 @@ void where_is_pose_bone_tail(bPoseChannel *pchan) */ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float ctime, int do_extra) { - Bone *bone, *parbone; - bPoseChannel *parchan; - float vec[3]; - - /* set up variables for quicker access below */ - bone= pchan->bone; - parbone= bone->parent; - parchan= pchan->parent; - - /* this gives a chan_mat with actions (ipos) results */ - if(do_extra) pchan_calc_mat(pchan); - else unit_m4(pchan->chan_mat); + /* This gives a chan_mat with actions (ipos) results. */ + if(do_extra) + pchan_calc_mat(pchan); + else + unit_m4(pchan->chan_mat); - /* construct the posemat based on PoseChannels, that we do before applying constraints */ + /* Construct the posemat based on PoseChannels, that we do before applying constraints. */ /* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) */ - - 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; - - /* Compose the matrix for this bone */ - if((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) { // uses restposition rotation, but actual position - float tmat[4][4]; - /* the rotation of the parent restposition */ - copy_m4_m4(tmat, parbone->arm_mat); - mul_serie_m4(pchan->pose_mat, tmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); - } - else if(bone->flag & BONE_HINGE) { // same as above but apply parent scale - float tmat[4][4]; - - /* apply the parent matrix scale */ - float tsmat[4][4], tscale[3]; - - /* the rotation of the parent restposition */ - copy_m4_m4(tmat, parbone->arm_mat); - - /* extract the scale of the parent matrix */ - mat4_to_size(tscale, parchan->pose_mat); - size_to_mat4(tsmat, tscale); - mult_m4_m4m4(tmat, tsmat, tmat); - - mul_serie_m4(pchan->pose_mat, tmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); - } - else if(bone->flag & BONE_NO_SCALE) { - float orthmat[4][4]; - - /* do transform, with an ortho-parent matrix */ - copy_m4_m4(orthmat, parchan->pose_mat); - normalize_m4(orthmat); - mul_serie_m4(pchan->pose_mat, orthmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); - } - else - mul_serie_m4(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); - - /* in these cases we need to compute location separately */ - if(bone->flag & (BONE_HINGE|BONE_NO_SCALE|BONE_NO_LOCAL_LOCATION)) { - float bone_loc[3], chan_loc[3]; - - mul_v3_m4v3(bone_loc, parchan->pose_mat, offs_bone[3]); - copy_v3_v3(chan_loc, pchan->chan_mat[3]); - - /* no local location is not transformed by bone matrix */ - if(!(bone->flag & BONE_NO_LOCAL_LOCATION)) - mul_mat3_m4_v3(offs_bone, chan_loc); - - /* for hinge we use armature instead of pose mat */ - if(bone->flag & BONE_HINGE) mul_mat3_m4_v3(parbone->arm_mat, chan_loc); - else mul_mat3_m4_v3(parchan->pose_mat, chan_loc); - - add_v3_v3v3(pchan->pose_mat[3], bone_loc, chan_loc); - } - } - else { - mult_m4_m4m4(pchan->pose_mat, bone->arm_mat, pchan->chan_mat); - - /* optional location without arm_mat rotation */ - if(bone->flag & BONE_NO_LOCAL_LOCATION) - add_v3_v3v3(pchan->pose_mat[3], bone->arm_mat[3], pchan->chan_mat[3]); - - /* only rootbones get the cyclic offset (unless user doesn't want that) */ - if ((bone->flag & BONE_NO_CYCLICOFFSET) == 0) + { + float rotscale_mat[4][4], loc_mat[4][4]; + pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); + /* Rotation and scale. */ + mult_m4_m4m4(pchan->pose_mat, rotscale_mat, pchan->chan_mat); + /* Location. */ + mul_v3_m4v3(pchan->pose_mat[3], loc_mat, pchan->chan_mat[3]); + } + + /* Only rootbones get the cyclic offset (unless user doesn't want that). */ + /* XXX That could be a problem for snapping and other "reverse transform" features... */ + if(!pchan->parent) { + if((pchan->bone->flag & BONE_NO_CYCLICOFFSET) == 0) add_v3_v3(pchan->pose_mat[3], ob->pose->cyclic_offset); } - + if(do_extra) { #if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */ @@ -2365,6 +2414,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti /* Do constraints */ if (pchan->constraints.first) { bConstraintOb *cob; + float vec[3]; /* make a copy of location of PoseChannel for later */ copy_v3_v3(vec, pchan->pose_mat[3]); @@ -2388,7 +2438,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti } } } - + /* calculate head */ copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]); /* calculate tail */ diff --git a/source/blender/editors/space_view3d/view3d_snap.c b/source/blender/editors/space_view3d/view3d_snap.c index 6bc1b3acce6..3665b0b13c3 100644 --- a/source/blender/editors/space_view3d/view3d_snap.c +++ b/source/blender/editors/space_view3d/view3d_snap.c @@ -505,7 +505,6 @@ static int snap_sel_to_grid(bContext *C, wmOperator *UNUSED(op)) if(pchan->bone->layer & arm->layer) { if((pchan->bone->flag & BONE_CONNECTED)==0) { float nLoc[3]; - float inv_restmat[4][4]; /* get nearest grid point to snap to */ copy_v3_v3(nLoc, pchan->pose_mat[3]); @@ -517,9 +516,8 @@ static int snap_sel_to_grid(bContext *C, wmOperator *UNUSED(op)) /* Back in object space... */ mul_m4_v3(ob->imat, vec); - /* get location of grid point in *rest* bone-space */ - invert_m4_m4(inv_restmat, pchan->bone->arm_mat); - mul_m4_v3(inv_restmat, vec); + /* Get location of grid point in pose space. */ + armature_loc_pose_to_bone(pchan, vec, vec); /* adjust location */ if ((pchan->protectflag & OB_LOCK_LOCX)==0) @@ -642,12 +640,9 @@ static int snap_sel_to_curs(bContext *C, wmOperator *UNUSED(op)) if(pchan->bone->flag & BONE_SELECTED) { if(pchan->bone->layer & arm->layer) { if((pchan->bone->flag & BONE_CONNECTED)==0) { - float inv_restmat[4][4]; - - /* get location of cursor in *rest* bone-space */ - invert_m4_m4(inv_restmat, pchan->bone->arm_mat); - mul_m4_v3(inv_restmat, vec); - + /* Get position in pchan (pose) space. */ + armature_loc_pose_to_bone(pchan, vec, vec); + /* copy new position */ if ((pchan->protectflag & OB_LOCK_LOCX)==0) pchan->loc[0]= vec[0]; diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c index 44dc909314a..b060c04de4e 100644 --- a/source/blender/editors/transform/transform_conversions.c +++ b/source/blender/editors/transform/transform_conversions.c @@ -515,7 +515,7 @@ static short apply_targetless_ik(Object *ob) static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, TransData *td) { Bone *bone= pchan->bone; - float pmat[3][3], omat[3][3], bmat[3][3]; + float pmat[3][3], omat[3][3]; float cmat[3][3], tmat[3][3]; float vec[3]; @@ -569,39 +569,71 @@ static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, Tr copy_qt_qt(td->ext->iquat, pchan->quat); } td->ext->rotOrder= pchan->rotmode; - + /* proper way to get parent transform + own transform + constraints transform */ copy_m3_m4(omat, ob->obmat); + /* New code, using "generic" pchan_to_pose_mat(). */ + { + float rotscale_mat[4][4], loc_mat[4][4]; + + pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); + if (t->mode == TFM_TRANSLATION) + copy_m3_m4(pmat, loc_mat); + else + copy_m3_m4(pmat, rotscale_mat); + + if (constraints_list_needinv(t, &pchan->constraints)) { + copy_m3_m4(tmat, pchan->constinv); + invert_m3_m3(cmat, tmat); + mul_serie_m3(td->mtx, pmat, omat, cmat, NULL,NULL,NULL,NULL,NULL); + } + else + mul_serie_m3(td->mtx, pmat, omat, NULL, NULL,NULL,NULL,NULL,NULL); + } + + /* XXX Old code. Will remove it later. */ +#if 0 if (ELEM(t->mode, TFM_TRANSLATION, TFM_RESIZE) && (pchan->bone->flag & BONE_NO_LOCAL_LOCATION)) unit_m3(bmat); else copy_m3_m3(bmat, pchan->bone->bone_mat); if (pchan->parent) { - if(pchan->bone->flag & BONE_HINGE) + if(pchan->bone->flag & BONE_HINGE) { copy_m3_m4(pmat, pchan->parent->bone->arm_mat); - else + if(!(pchan->bone->flag & BONE_NO_SCALE)) { + float tsize[3], tsmat[3][3]; + mat4_to_size(tsize, pchan->parent->pose_mat); + size_to_mat3(tsmat, tsize); + mul_m3_m3m3(pmat, tsmat, pmat); + } + } + else { copy_m3_m4(pmat, pchan->parent->pose_mat); + if(pchan->bone->flag & BONE_NO_SCALE) + normalize_m3(pmat); + } if (constraints_list_needinv(t, &pchan->constraints)) { copy_m3_m4(tmat, pchan->constinv); invert_m3_m3(cmat, tmat); - mul_serie_m3(td->mtx, bmat, pmat, omat, cmat, NULL,NULL,NULL,NULL); // dang mulserie swaps args + mul_serie_m3(td->mtx, bmat, pmat, omat, cmat, NULL,NULL,NULL,NULL); } else - mul_serie_m3(td->mtx, bmat, pmat, omat, NULL,NULL,NULL,NULL,NULL); // dang mulserie swaps args + mul_serie_m3(td->mtx, bmat, pmat, omat, NULL,NULL,NULL,NULL,NULL); } else { if (constraints_list_needinv(t, &pchan->constraints)) { copy_m3_m4(tmat, pchan->constinv); invert_m3_m3(cmat, tmat); - mul_serie_m3(td->mtx, bmat, omat, cmat, NULL,NULL,NULL,NULL,NULL); // dang mulserie swaps args + mul_serie_m3(td->mtx, bmat, omat, cmat, NULL,NULL,NULL,NULL,NULL); } else - mul_m3_m3m3(td->mtx, omat, bmat); // Mat3MulMat3 has swapped args! + mul_m3_m3m3(td->mtx, omat, bmat); } +# endif invert_m3_m3(td->smtx, td->mtx); |