diff options
Diffstat (limited to 'source/blender/blenkernel/intern/action.c')
| -rw-r--r-- | source/blender/blenkernel/intern/action.c | 185 |
1 files changed, 57 insertions, 128 deletions
diff --git a/source/blender/blenkernel/intern/action.c b/source/blender/blenkernel/intern/action.c index 1ff5d9b5c01..4cfd35a494d 100644 --- a/source/blender/blenkernel/intern/action.c +++ b/source/blender/blenkernel/intern/action.c @@ -62,6 +62,7 @@ #include "BKE_main.h" #include "BKE_object.h" #include "BKE_utildefines.h" +#include "BIK_api.h" #include "BLI_arithb.h" #include "BLI_blenlib.h" @@ -451,7 +452,7 @@ bPoseChannel *verify_pose_channel(bPose* pose, const char* name) chan->limitmin[0]= chan->limitmin[1]= chan->limitmin[2]= -180.0f; chan->limitmax[0]= chan->limitmax[1]= chan->limitmax[2]= 180.0f; chan->stiffness[0]= chan->stiffness[1]= chan->stiffness[2]= 0.0f; - + chan->ikrotweight = chan->iklinweight = 0.0f; Mat4One(chan->constinv); BLI_addtail(&pose->chanbase, chan); @@ -477,7 +478,18 @@ bPoseChannel *get_active_posechannel (Object *ob) return NULL; } - +const char *get_ikparam_name(bPose *pose) +{ + if (pose) { + switch (pose->iksolver) { + case IKSOLVER_LEGACY: + return NULL; + case IKSOLVER_ITASC: + return "bItasc"; + } + } + return NULL; +} /* dst should be freed already, makes entire duplicate */ void copy_pose (bPose **dst, bPose *src, int copycon) { @@ -499,7 +511,10 @@ void copy_pose (bPose **dst, bPose *src, int copycon) outPose= MEM_callocN(sizeof(bPose), "pose"); BLI_duplicatelist(&outPose->chanbase, &src->chanbase); - + outPose->iksolver = src->iksolver; + outPose->ikdata = NULL; + outPose->ikparam = MEM_dupallocN(src->ikparam); + if (copycon) { for (pchan=outPose->chanbase.first; pchan; pchan=pchan->next) { copy_constraints(&listb, &pchan->constraints); // copy_constraints NULLs listb @@ -511,6 +526,39 @@ void copy_pose (bPose **dst, bPose *src, int copycon) *dst=outPose; } +void init_pose_itasc(bItasc *itasc) +{ + if (itasc) { + itasc->iksolver = IKSOLVER_ITASC; + itasc->minstep = 0.01f; + itasc->maxstep = 0.06f; + itasc->numiter = 100; + itasc->numstep = 4; + itasc->precision = 0.005f; + itasc->flag = ITASC_AUTO_STEP|ITASC_INITIAL_REITERATION|ITASC_SIMULATION; + itasc->feedback = 20.f; + itasc->maxvel = 50.f; + itasc->solver = ITASC_SOLVER_SDLS; + itasc->dampmax = 0.5; + itasc->dampeps = 0.15; + } +} +void init_pose_ikparam(bPose *pose) +{ + bItasc *itasc; + switch (pose->iksolver) { + case IKSOLVER_ITASC: + itasc = MEM_callocN(sizeof(bItasc), "itasc"); + init_pose_itasc(itasc); + pose->ikparam = itasc; + break; + case IKSOLVER_LEGACY: + default: + pose->ikparam = NULL; + break; + } +} + void free_pose_channels(bPose *pose) { bPoseChannel *pchan; @@ -534,133 +582,15 @@ void free_pose(bPose *pose) /* free pose-groups */ if (pose->agroups.first) BLI_freelistN(&pose->agroups); - - /* free pose */ - MEM_freeN(pose); - } -} - -void game_copy_pose(bPose **dst, bPose *src) -{ - bPose *out; - bPoseChannel *pchan, *outpchan; - GHash *ghash; - - /* the game engine copies the current armature pose and then swaps - * the object pose pointer. this makes it possible to change poses - * without affecting the original blender data. */ - - if (!src) { - *dst=NULL; - return; - } - else if (*dst==src) { - printf("copy_pose source and target are the same\n"); - *dst=NULL; - return; - } - - out= MEM_dupallocN(src); - out->agroups.first= out->agroups.last= NULL; - BLI_duplicatelist(&out->chanbase, &src->chanbase); - - /* remap pointers */ - ghash= BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp); - pchan= src->chanbase.first; - outpchan= out->chanbase.first; - for (; pchan; pchan=pchan->next, outpchan=outpchan->next) - BLI_ghash_insert(ghash, pchan, outpchan); - - for (pchan=out->chanbase.first; pchan; pchan=pchan->next) { - pchan->parent= BLI_ghash_lookup(ghash, pchan->parent); - pchan->child= BLI_ghash_lookup(ghash, pchan->child); - pchan->path= NULL; - } - - BLI_ghash_free(ghash, NULL, NULL); - - *dst=out; -} + /* free IK solver state */ + BIK_clear_data(pose); + /* free IK solver param */ + if (pose->ikparam) + MEM_freeN(pose->ikparam); -/* Only allowed for Poses with identical channels */ -void game_blend_poses(bPose *dst, bPose *src, float srcweight/*, short mode*/) -{ - short mode= ACTSTRIPMODE_BLEND; - - bPoseChannel *dchan; - const bPoseChannel *schan; - bConstraint *dcon, *scon; - float dstweight; - int i; - - switch (mode){ - case ACTSTRIPMODE_BLEND: - dstweight = 1.0F - srcweight; - break; - case ACTSTRIPMODE_ADD: - dstweight = 1.0F; - break; - default : - dstweight = 1.0F; - } - - schan= src->chanbase.first; - for (dchan = dst->chanbase.first; dchan; dchan=dchan->next, schan= schan->next){ - if (schan->flag & (POSE_ROT|POSE_LOC|POSE_SIZE)) { - /* replaced quat->matrix->quat conversion with decent quaternion interpol (ton) */ - - /* Do the transformation blend */ - if (schan->flag & POSE_ROT) { - /* quat interpolation done separate */ - if (schan->rotmode == PCHAN_ROT_QUAT) { - float dquat[4], squat[4]; - - QUATCOPY(dquat, dchan->quat); - QUATCOPY(squat, schan->quat); - if (mode==ACTSTRIPMODE_BLEND) - QuatInterpol(dchan->quat, dquat, squat, srcweight); - else { - QuatMulFac(squat, srcweight); - QuatMul(dchan->quat, dquat, squat); - } - - NormalQuat(dchan->quat); - } - } - - for (i=0; i<3; i++) { - /* blending for loc and scale are pretty self-explanatory... */ - if (schan->flag & POSE_LOC) - dchan->loc[i] = (dchan->loc[i]*dstweight) + (schan->loc[i]*srcweight); - if (schan->flag & POSE_SIZE) - dchan->size[i] = 1.0f + ((dchan->size[i]-1.0f)*dstweight) + ((schan->size[i]-1.0f)*srcweight); - - /* euler-rotation interpolation done here instead... */ - // FIXME: are these results decent? - if ((schan->flag & POSE_ROT) && (schan->rotmode)) - dchan->eul[i] = (dchan->eul[i]*dstweight) + (schan->eul[i]*srcweight); - } - dchan->flag |= schan->flag; - } - for(dcon= dchan->constraints.first, scon= schan->constraints.first; dcon && scon; dcon= dcon->next, scon= scon->next) { - /* no 'add' option for constraint blending */ - dcon->enforce= dcon->enforce*(1.0f-srcweight) + scon->enforce*srcweight; - } - } - - /* this pose is now in src time */ - dst->ctime= src->ctime; -} - -void game_free_pose(bPose *pose) -{ - if (pose) { - /* we don't free constraints, those are owned by the original pose */ - if(pose->chanbase.first) - BLI_freelistN(&pose->chanbase); - + /* free pose */ MEM_freeN(pose); } } @@ -917,7 +847,6 @@ void calc_action_range(const bAction *act, float *start, float *end, short incl_ } } - /* Return flags indicating which transforms the given object/posechannel has * - if 'curves' is provided, a list of links to these curves are also returned */ |