diff options
| -rw-r--r-- | source/blender/ikplugin/BIK_api.h | 15 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/iksolver_plugin.c | 6 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 41 |
3 files changed, 40 insertions, 22 deletions
diff --git a/source/blender/ikplugin/BIK_api.h b/source/blender/ikplugin/BIK_api.h index ade3113f041..0b118a25c13 100644 --- a/source/blender/ikplugin/BIK_api.h +++ b/source/blender/ikplugin/BIK_api.h @@ -68,9 +68,18 @@ void BIK_clear_cache(struct bPose *pose); void BIK_update_param(struct bPose *pose); void BIK_test_constraint(struct Object *ob, struct bConstraint *cons); // not yet implemented -// int BIK_get_constraint_param(struct bPose *pose, struct bConstraint *cons, int id, BIK_ParamValue *value); -// int BIK_get_channel_param(struct bPose *pose, struct bPoseChannel *pchan, int id, BIK_ParamValue *value); -// int BIK_get_solver_param(struct bPose *pose, struct bPoseChannel *pchan, int id, BIK_ParamValue *value); +// int BIK_get_constraint_param(struct bPose *pose, +// struct bConstraint *cons, +// int id, +// BIK_ParamValue *value); +// int BIK_get_channel_param(struct bPose *pose, +// struct bPoseChannel *pchan, +// int id, +// BIK_ParamValue *value); +// int BIK_get_solver_param(struct bPose *pose, +// struct bPoseChannel *pchan, +// int id, +// BIK_ParamValue *value); // number of solver available // 0 = iksolver diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c index 5615cc4ea31..9ae8855bc85 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.c +++ b/source/blender/ikplugin/intern/iksolver_plugin.c @@ -47,7 +47,8 @@ /* ********************** THE IK SOLVER ******************* */ /* allocates PoseTree, and links that to root bone/channel */ -/* Note: detecting the IK chain is duplicate code... in drawarmature.c and in transform_conversions.c */ +/* Note: detecting the IK chain is duplicate code... + * in drawarmature.c and in transform_conversions.c */ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_tip) { bPoseChannel *curchan, *pchan_root = NULL, *chanlist[256], **oldchan; @@ -575,7 +576,8 @@ void iksolver_execute_tree(struct Depsgraph *depsgraph, for (a = 0; a < tree->totchannel; a++) { if (!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag BKE_pose_where_is_bone(depsgraph, scene, ob, tree->pchan[a], ctime, 1); - /* tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() */ + /* Tell blender that this channel was controlled by IK, + * it's cleared on each BKE_pose_where_is(). */ tree->pchan[a]->flag |= POSE_CHAIN; } diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 819ddfd31b0..e05385feb17 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -89,16 +89,16 @@ struct IK_Target { iTaSC::ConstraintSet *constraint; struct bConstraint *blenderConstraint; struct bPoseChannel *rootChannel; - Object *owner; //for auto IK + Object *owner; // for auto IK ErrorCallback errorCallback; std::string targetName; std::string constraintName; unsigned short controlType; - short channel; //index in IK channel array of channel on which this target is defined - short ee; //end effector number - bool simulation; //true when simulation mode is used (update feedback) - bool eeBlend; //end effector affected by enforce blending - float eeRest[4][4]; //end effector initial pose relative to armature + short channel; // index in IK channel array of channel on which this target is defined + short ee; // end effector number + bool simulation; // true when simulation mode is used (update feedback) + bool eeBlend; // end effector affected by enforce blending + float eeRest[4][4]; // end effector initial pose relative to armature IK_Target() { @@ -289,7 +289,8 @@ static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *co /* create a target */ target = (PoseTarget *)MEM_callocN(sizeof(PoseTarget), "posetarget"); target->con = con; - // by contruction there can be only one tree per channel and each channel can be part of at most one tree. + // by contruction there can be only one tree per channel + // and each channel can be part of at most one tree. tree = (PoseTree *)pchan_root->iktree.first; if (tree == NULL) { @@ -377,7 +378,7 @@ static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *co static bool is_cartesian_constraint(bConstraint *con) { - //bKinematicConstraint* data=(bKinematicConstraint *)con->data; + // bKinematicConstraint* data=(bKinematicConstraint *)con->data; return true; } @@ -656,7 +657,8 @@ static bool base_callback(const iTaSC::Timestamp ×tamp, 1.0); // convert to armature space mul_m4_m4m4(polemat, imat, mat); - // get the target in world space (was computed before as target object are defined before base object) + // get the target in world space + // (was computed before as target object are defined before base object). iktarget->target->getPose().getValue(mat[0]); // convert to armature space mul_m4_m4m4(goalmat, imat, mat); @@ -849,11 +851,13 @@ static bool joint_callback(const iTaSC::Timestamp ×tamp, float rmat[3][3]; if (chan->rotmode > 0) { - /* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */ + /* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation + * orders) */ eulO_to_mat3(rmat, chan->eul, chan->rotmode); } else if (chan->rotmode == ROT_MODE_AXISANGLE) { - /* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */ + /* axis-angle - stored in quaternion data, + * but not really that great for 3D-changing orientations */ axis_angle_to_mat3(rmat, &chan->quat[1], chan->quat[0]); } else { @@ -936,7 +940,8 @@ static int convert_channels(struct Depsgraph *depsgraph, // joint angles and can't be applied to the iTaSC armature dynamically if (!(pchan->flag & POSE_DONE)) BKE_pose_where_is_bone(depsgraph, 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() + // 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 */ @@ -1645,8 +1650,9 @@ static void execute_scene(struct Depsgraph *depsgraph, IK_Channel *ikchan; if (ikparam->flag & ITASC_SIMULATION) { for (i = 0, ikchan = ikscene->channels; i < ikscene->numchan; i++, ++ikchan) { - // In simulation mode we don't allow external contraint to change our bones, mark the channel done - // also tell Blender that this channel is part of IK tree (cleared on each BKE_pose_where_is() + // In simulation mode we don't allow external contraint to change our bones, mark the channel + // done also tell Blender that this channel is part of IK tree + // (cleared on each BKE_pose_where_is() ikchan->pchan->flag |= (POSE_DONE | POSE_CHAIN); ikchan->jointValid = 0; } @@ -1656,7 +1662,8 @@ static void execute_scene(struct Depsgraph *depsgraph, for (i = 0, ikchan = ikscene->channels; i < ikscene->numchan; i++, ++ikchan) { if (!(ikchan->pchan->flag & POSE_DONE)) BKE_pose_where_is_bone(depsgraph, blscene, ikscene->blArmature, ikchan->pchan, ctime, 1); - // tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() + // tell blender that this channel was controlled by IK, + // it's cleared on each BKE_pose_where_is() ikchan->pchan->flag |= (POSE_DONE | POSE_CHAIN); ikchan->jointValid = 0; } @@ -1906,8 +1913,8 @@ void itasc_update_param(struct bPose *pose) CONSTRAINT_ID_ALL, iTaSC::Armature::ID_JOINT, iTaSC::ACT_FEEDBACK, ikparam->feedback); } else { - // in animation mode timestep is 1s by convention => - // qmax becomes radiant and feedback becomes fraction of error gap corrected in one iteration + // in animation mode timestep is 1s by convention => qmax becomes radiant and feedback + // becomes fraction of error gap corrected in one iteration. ikscene->scene->setParam(iTaSC::Scene::MIN_TIMESTEP, 1.0); ikscene->scene->setParam(iTaSC::Scene::MAX_TIMESTEP, 1.0); ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, 0.52); |