diff options
Diffstat (limited to 'source/blender/blenkernel/intern/armature.c')
| -rw-r--r-- | source/blender/blenkernel/intern/armature.c | 316 |
1 files changed, 183 insertions, 133 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index 2e760f53155..14c4b6f97ab 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -36,6 +36,7 @@ #include "BLI_math.h" #include "BLI_blenlib.h" +#include "BLI_utildefines.h" #include "DNA_anim_types.h" #include "DNA_armature_types.h" @@ -63,13 +64,13 @@ #include "BKE_lattice.h" #include "BKE_main.h" #include "BKE_object.h" -#include "BKE_utildefines.h" + #include "BIK_api.h" #include "BKE_sketch.h" /* **************** Generic Functions, data level *************** */ -bArmature *add_armature(char *name) +bArmature *add_armature(const char *name) { bArmature *arm; @@ -252,7 +253,7 @@ Bone *get_named_bone (bArmature *arm, const char *name) * axis: the axis to name on * head/tail: the head/tail co-ordinate of the bone on the specified axis */ -int bone_autoside_name (char *name, int strip_number, short axis, float head, float tail) +int bone_autoside_name (char *name, int UNUSED(strip_number), short axis, float head, float tail) { unsigned int len; char basename[32]={""}; @@ -260,7 +261,7 @@ int bone_autoside_name (char *name, int strip_number, short axis, float head, fl len= strlen(name); if (len == 0) return 0; - strcpy(basename, name); + BLI_strncpy(basename, name, sizeof(basename)); /* Figure out extension to append: * - The extension to append is based upon the axis that we are working on. @@ -577,23 +578,29 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) /* ************ Armature Deform ******************* */ -static void pchan_b_bone_defmats(bPoseChannel *pchan, int use_quaternion) +typedef struct bPoseChanDeform { + Mat4 *b_bone_mats; + DualQuat *dual_quat; + DualQuat *b_bone_dual_quats; +} bPoseChanDeform; + +static void pchan_b_bone_defmats(bPoseChannel *pchan, bPoseChanDeform *pdef_info, int use_quaternion) { Bone *bone= pchan->bone; Mat4 *b_bone= b_bone_spline_setup(pchan, 0); Mat4 *b_bone_rest= b_bone_spline_setup(pchan, 1); Mat4 *b_bone_mats; DualQuat *b_bone_dual_quats= NULL; - float tmat[4][4]; + float tmat[4][4]= MAT4_UNITY; int a; /* allocate b_bone matrices and dual quats */ b_bone_mats= MEM_mallocN((1+bone->segments)*sizeof(Mat4), "BBone defmats"); - pchan->b_bone_mats= b_bone_mats; + pdef_info->b_bone_mats= b_bone_mats; if(use_quaternion) { b_bone_dual_quats= MEM_mallocN((bone->segments)*sizeof(DualQuat), "BBone dqs"); - pchan->b_bone_dual_quats= b_bone_dual_quats; + pdef_info->b_bone_dual_quats= b_bone_dual_quats; } /* first matrix is the inverse arm_mat, to bring points in local bone space @@ -605,7 +612,6 @@ static void pchan_b_bone_defmats(bPoseChannel *pchan, int use_quaternion) - translate over the curve to the bbone mat space - transform with b_bone matrix - transform back into global space */ - unit_m4(tmat); for(a=0; a<bone->segments; a++) { invert_m4_m4(tmat, b_bone_rest[a].mat); @@ -618,9 +624,9 @@ static void pchan_b_bone_defmats(bPoseChannel *pchan, int use_quaternion) } } -static void b_bone_deform(bPoseChannel *pchan, Bone *bone, float *co, DualQuat *dq, float defmat[][3]) +static void b_bone_deform(bPoseChanDeform *pdef_info, Bone *bone, float *co, DualQuat *dq, float defmat[][3]) { - Mat4 *b_bone= pchan->b_bone_mats; + Mat4 *b_bone= pdef_info->b_bone_mats; float (*mat)[4]= b_bone[0].mat; float segment, y; int a; @@ -637,7 +643,7 @@ static void b_bone_deform(bPoseChannel *pchan, Bone *bone, float *co, DualQuat * CLAMP(a, 0, bone->segments-1); if(dq) { - copy_dq_dq(dq, &((DualQuat*)pchan->b_bone_dual_quats)[a]); + copy_dq_dq(dq, &(pdef_info->b_bone_dual_quats)[a]); } else { mul_m4_v3(b_bone[a+1].mat, co); @@ -711,7 +717,7 @@ static void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonem add_m3_m3m3(mat, mat, wmat); } -static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, float mat[][3], float *co) +static float dist_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float *vec, DualQuat *dq, float mat[][3], float *co) { Bone *bone= pchan->bone; float fac, contrib=0.0; @@ -732,7 +738,7 @@ static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, flo if(vec) { if(bone->segments>1) // applies on cop and bbonemat - b_bone_deform(pchan, bone, cop, NULL, (mat)?bbonemat:NULL); + b_bone_deform(pdef_info, bone, cop, NULL, (mat)?bbonemat:NULL); else mul_m4_v3(pchan->chan_mat, cop); @@ -745,11 +751,11 @@ static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, flo } else { if(bone->segments>1) { - b_bone_deform(pchan, bone, cop, &bbonedq, NULL); + b_bone_deform(pdef_info, bone, cop, &bbonedq, NULL); add_weighted_dq_dq(dq, &bbonedq, fac); } else - add_weighted_dq_dq(dq, pchan->dual_quat, fac); + add_weighted_dq_dq(dq, pdef_info->dual_quat, fac); } } } @@ -757,7 +763,7 @@ static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, flo return contrib; } -static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, DualQuat *dq, float mat[][3], float *co, float *contrib) +static void pchan_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float weight, float *vec, DualQuat *dq, float mat[][3], float *co, float *contrib) { float cop[3], bbonemat[3][3]; DualQuat bbonedq; @@ -770,7 +776,7 @@ static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, Dua if(vec) { if(pchan->bone->segments>1) // applies on cop and bbonemat - b_bone_deform(pchan, pchan->bone, cop, NULL, (mat)?bbonemat:NULL); + b_bone_deform(pdef_info, pchan->bone, cop, NULL, (mat)?bbonemat:NULL); else mul_m4_v3(pchan->chan_mat, cop); @@ -783,11 +789,11 @@ static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, Dua } else { if(pchan->bone->segments>1) { - b_bone_deform(pchan, pchan->bone, cop, &bbonedq, NULL); + b_bone_deform(pdef_info, pchan->bone, cop, &bbonedq, NULL); add_weighted_dq_dq(dq, &bbonedq, weight); } else - add_weighted_dq_dq(dq, pchan->dual_quat, weight); + add_weighted_dq_dq(dq, pdef_info->dual_quat, weight); } (*contrib)+=weight; @@ -798,15 +804,18 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, int numVerts, int deformflag, float (*prevCos)[3], const char *defgrp_name) { + bPoseChanDeform *pdef_info_array; + bPoseChanDeform *pdef_info= NULL; bArmature *arm= armOb->data; bPoseChannel *pchan, **defnrToPC = NULL; + int *defnrToPCIndex= NULL; MDeformVert *dverts = NULL; bDeformGroup *dg; DualQuat *dualquats= NULL; float obinv[4][4], premat[4][4], postmat[4][4]; - int use_envelope = deformflag & ARM_DEF_ENVELOPE; - int use_quaternion = deformflag & ARM_DEF_QUATERNION; - int invert_vgroup= deformflag & ARM_DEF_INVERT_VGROUP; + const short use_envelope = deformflag & ARM_DEF_ENVELOPE; + const short use_quaternion = deformflag & ARM_DEF_QUATERNION; + const short invert_vgroup= deformflag & ARM_DEF_INVERT_VGROUP; int numGroups = 0; /* safety for vertexgroup index overflow */ int i, target_totvert = 0; /* safety for vertexgroup overflow */ int use_dverts = 0; @@ -823,20 +832,24 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, /* bone defmats are already in the channels, chan_mat */ /* initialize B_bone matrices and dual quaternions */ + totchan= BLI_countlist(&armOb->pose->chanbase); + if(use_quaternion) { - totchan= BLI_countlist(&armOb->pose->chanbase); dualquats= MEM_callocN(sizeof(DualQuat)*totchan, "dualquats"); } + + pdef_info_array= MEM_callocN(sizeof(bPoseChanDeform)*totchan, "bPoseChanDeform"); totchan= 0; - for(pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next) { + pdef_info= pdef_info_array; + for(pchan= armOb->pose->chanbase.first; pchan; pchan= pchan->next, pdef_info++) { if(!(pchan->bone->flag & BONE_NO_DEFORM)) { if(pchan->bone->segments > 1) - pchan_b_bone_defmats(pchan, use_quaternion); + pchan_b_bone_defmats(pchan, pdef_info, use_quaternion); if(use_quaternion) { - pchan->dual_quat= &dualquats[totchan++]; - mat4_to_dquat( pchan->dual_quat,pchan->bone->arm_mat, pchan->chan_mat); + pdef_info->dual_quat= &dualquats[totchan++]; + mat4_to_dquat( pdef_info->dual_quat,pchan->bone->arm_mat, pchan->chan_mat); } } } @@ -872,15 +885,19 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, else if(dverts) use_dverts = 1; if(use_dverts) { - defnrToPC = MEM_callocN(sizeof(*defnrToPC) * numGroups, - "defnrToBone"); + defnrToPC = MEM_callocN(sizeof(*defnrToPC) * numGroups, "defnrToBone"); + defnrToPCIndex = MEM_callocN(sizeof(*defnrToPCIndex) * numGroups, "defnrToIndex"); for(i = 0, dg = target->defbase.first; dg; i++, dg = dg->next) { defnrToPC[i] = get_pose_channel(armOb->pose, dg->name); /* exclude non-deforming bones */ if(defnrToPC[i]) { - if(defnrToPC[i]->bone->flag & BONE_NO_DEFORM) + if(defnrToPC[i]->bone->flag & BONE_NO_DEFORM) { defnrToPC[i]= NULL; + } + else { + defnrToPCIndex[i]= BLI_findindex(&armOb->pose->chanbase, defnrToPC[i]); + } } } } @@ -920,19 +937,15 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, dvert = NULL; if(armature_def_nr >= 0 && dvert) { - armature_weight = 0.0f; /* a def group was given, so default to 0 */ - for(j = 0; j < dvert->totweight; j++) { - if(dvert->dw[j].def_nr == armature_def_nr) { - armature_weight = dvert->dw[j].weight; - break; - } + armature_weight= defvert_find_weight(dvert, armature_def_nr); + + if(invert_vgroup) { + armature_weight= 1.0f-armature_weight; } + /* hackish: the blending factor can be used for blending with prevCos too */ if(prevCos) { - if(invert_vgroup) - prevco_weight= 1.0f-armature_weight; - else - prevco_weight= armature_weight; + prevco_weight= armature_weight; armature_weight= 1.0f; } } @@ -951,10 +964,10 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, for(j = 0; j < dvert->totweight; j++){ int index = dvert->dw[j].def_nr; - pchan = index < numGroups?defnrToPC[index]:NULL; - if(pchan) { + if(index < numGroups && (pchan= defnrToPC[index])) { float weight = dvert->dw[j].weight; - Bone *bone = pchan->bone; + Bone *bone= pchan->bone; + pdef_info= pdef_info_array + defnrToPCIndex[index]; deformed = 1; @@ -965,25 +978,27 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, bone->rad_tail, bone->dist); } - pchan_bone_deform(pchan, weight, vec, dq, smat, co, &contrib); + pchan_bone_deform(pchan, pdef_info, weight, vec, dq, smat, co, &contrib); } } /* if there are vertexgroups but not groups with bones * (like for softbody groups) */ if(deformed == 0 && use_envelope) { - for(pchan = armOb->pose->chanbase.first; pchan; - pchan = pchan->next) { + pdef_info= pdef_info_array; + for(pchan= armOb->pose->chanbase.first; pchan; + pchan= pchan->next, pdef_info++) { if(!(pchan->bone->flag & BONE_NO_DEFORM)) - contrib += dist_bone_deform(pchan, vec, dq, smat, co); + contrib += dist_bone_deform(pchan, pdef_info, vec, dq, smat, co); } } } else if(use_envelope) { + pdef_info= pdef_info_array; for(pchan = armOb->pose->chanbase.first; pchan; - pchan = pchan->next) { + pchan = pchan->next, pdef_info++) { if(!(pchan->bone->flag & BONE_NO_DEFORM)) - contrib += dist_bone_deform(pchan, vec, dq, smat, co); + contrib += dist_bone_deform(pchan, pdef_info, vec, dq, smat, co); } } @@ -1039,25 +1054,25 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, if(dualquats) MEM_freeN(dualquats); if(defnrToPC) MEM_freeN(defnrToPC); - + if(defnrToPCIndex) MEM_freeN(defnrToPCIndex); + /* free B_bone matrices */ - for(pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next) { - if(pchan->b_bone_mats) { - MEM_freeN(pchan->b_bone_mats); - pchan->b_bone_mats = NULL; + pdef_info= pdef_info_array; + for(pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) { + if(pdef_info->b_bone_mats) { + MEM_freeN(pdef_info->b_bone_mats); } - if(pchan->b_bone_dual_quats) { - MEM_freeN(pchan->b_bone_dual_quats); - pchan->b_bone_dual_quats = NULL; + if(pdef_info->b_bone_dual_quats) { + MEM_freeN(pdef_info->b_bone_dual_quats); } - - pchan->dual_quat = NULL; } + + MEM_freeN(pdef_info_array); } /* ************ END Armature Deform ******************* */ -void get_objectspace_bone_matrix (struct Bone* bone, float M_accumulatedMatrix[][4], int root, int posed) +void get_objectspace_bone_matrix (struct Bone* bone, float M_accumulatedMatrix[][4], int UNUSED(root), int UNUSED(posed)) { copy_m4_m4(M_accumulatedMatrix, bone->arm_mat); } @@ -1085,11 +1100,10 @@ void armature_mat_world_to_pose(Object *ob, float inmat[][4], float outmat[][4]) */ void armature_loc_world_to_pose(Object *ob, float *inloc, float *outloc) { - float xLocMat[4][4]; + float xLocMat[4][4]= MAT4_UNITY; float nLocMat[4][4]; /* build matrix for location */ - unit_m4(xLocMat); VECCOPY(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ @@ -1105,22 +1119,50 @@ void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outm { 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; - - /* get the inverse matrix of the pchan's transforms */ - if (pchan->rotmode) - loc_eul_size_to_mat4(pc_trans, pchan->loc, pchan->eul, pchan->size); - else - loc_quat_size_to_mat4(pc_trans, pchan->loc, pchan->quat, pchan->size); + + /* 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); + } + + 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); + + /* 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); + + copy_v3_v3(pose_mat[3], pchan->pose_mat[3]); + } + + 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 */ - mul_m4_m4m4(pc_posemat, inv_trans, pchan->pose_mat); + mul_m4_m4m4(pc_posemat, inv_trans, pose_mat); /* get the inverse of the leftovers so that we can remove * that component from the supplied matrix @@ -1137,11 +1179,10 @@ void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outm */ void armature_loc_pose_to_bone(bPoseChannel *pchan, float *inloc, float *outloc) { - float xLocMat[4][4]; + float xLocMat[4][4]= MAT4_UNITY; float nLocMat[4][4]; /* build matrix for location */ - unit_m4(xLocMat); VECCOPY(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ @@ -1149,32 +1190,30 @@ void armature_loc_pose_to_bone(bPoseChannel *pchan, float *inloc, float *outloc) VECCOPY(outloc, nLocMat[3]); } +/* same as object_mat3_to_rot() */ +void pchan_mat3_to_rot(bPoseChannel *pchan, float mat[][3], short use_compat) +{ + switch(pchan->rotmode) { + case ROT_MODE_QUAT: + mat3_to_quat(pchan->quat, mat); + break; + case ROT_MODE_AXISANGLE: + mat3_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat); + break; + default: /* euler */ + if(use_compat) mat3_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat); + else mat3_to_eulO(pchan->eul, pchan->rotmode, mat); + } +} /* Apply a 4x4 matrix to the pose bone, * similar to object_apply_mat4() */ -void pchan_apply_mat4(bPoseChannel *pchan, float mat[][4]) +void pchan_apply_mat4(bPoseChannel *pchan, float mat[][4], short use_compat) { - /* location */ - copy_v3_v3(pchan->loc, mat[3]); - - /* scale */ - mat4_to_size(pchan->size, mat); - - /* rotation */ - if (pchan->rotmode == ROT_MODE_AXISANGLE) { - float tmp_quat[4]; - - /* need to convert to quat first (in temp var)... */ - mat4_to_quat(tmp_quat, mat); - quat_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, tmp_quat); - } - else if (pchan->rotmode == ROT_MODE_QUAT) { - mat4_to_quat(pchan->quat, mat); - } - else { - mat4_to_eulO(pchan->eul, pchan->rotmode, mat); - } + float rot[3][3]; + mat4_to_loc_rot_size(pchan->loc, rot, pchan->size, mat); + pchan_mat3_to_rot(pchan, rot, use_compat); } /* Remove rest-position effects from pose-transform for obtaining @@ -1206,6 +1245,7 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa } else if (oldMode == ROT_MODE_QUAT) { /* quat to euler */ + normalize_qt(quat); quat_to_eulO( eul, newMode,quat); } /* else { no conversion needed } */ @@ -1228,6 +1268,7 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa } else if (oldMode == ROT_MODE_QUAT) { /* quat to axis angle */ + normalize_qt(quat); quat_to_axis_angle( axis, angle,quat); } @@ -1360,13 +1401,6 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone) VECCOPY(bone->arm_mat[3], bone->head); } - /* head */ - VECCOPY(bone->arm_head, bone->arm_mat[3]); - /* tail is in current local coord system */ - VECCOPY(vec, bone->arm_mat[1]); - mul_v3_fl(vec, bone->length); - add_v3_v3v3(bone->arm_tail, bone->arm_head, vec); - /* and the kiddies */ prevbone= bone; for(bone= bone->childbase.first; bone; bone= bone->next) { @@ -1411,10 +1445,6 @@ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected if(error) return; - /* exception, armature local layer should be proxied too */ - if (pose->proxy_layer) - ((bArmature *)ob->data)->layer= pose->proxy_layer; - /* clear all transformation values from library */ rest_pose(frompose); @@ -1460,7 +1490,7 @@ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected */ extract_proxylocal_constraints(&proxylocal_constraints, &pchan->constraints); copy_constraints(&pchanw.constraints, &pchanp->constraints, FALSE); - addlisttolist(&pchanw.constraints, &proxylocal_constraints); + BLI_movelisttolist(&pchanw.constraints, &proxylocal_constraints); /* constraints - set target ob pointer to own object */ for (con= pchanw.constraints.first; con; con= con->next) { @@ -1616,7 +1646,7 @@ typedef struct tSplineIK_Tree { /* ----------- */ /* Tag the bones in the chain formed by the given bone for IK */ -static void splineik_init_tree_from_pchan(Scene *scene, Object *ob, bPoseChannel *pchan_tip) +static void splineik_init_tree_from_pchan(Scene *scene, Object *UNUSED(ob), bPoseChannel *pchan_tip) { bPoseChannel *pchan, *pchanRoot=NULL; bPoseChannel *pchanChain[255]; @@ -1689,28 +1719,25 @@ static void splineik_init_tree_from_pchan(Scene *scene, Object *ob, bPoseChannel ikData->numpoints= ikData->chainlen+1; ikData->points= MEM_callocN(sizeof(float)*ikData->numpoints, "Spline IK Binding"); + /* bind 'tip' of chain (i.e. first joint = tip of bone with the Spline IK Constraint) */ + ikData->points[0] = 1.0f; + /* perform binding of the joints to parametric positions along the curve based * proportion of the total length that each bone occupies */ for (i = 0; i < segcount; i++) { - if (i != 0) { - /* 'head' joints - * - 2 methods; the one chosen depends on whether we've got usable lengths - */ - if ((ikData->flag & CONSTRAINT_SPLINEIK_EVENSPLITS) || (totLength == 0.0f)) { - /* 1) equi-spaced joints */ - ikData->points[i]= ikData->points[i-1] - segmentLen; - } - else { - /* 2) to find this point on the curve, we take a step from the previous joint - * a distance given by the proportion that this bone takes - */ - ikData->points[i]= ikData->points[i-1] - (boneLengths[i] / totLength); - } + /* 'head' joints, travelling towards the root of the chain + * - 2 methods; the one chosen depends on whether we've got usable lengths + */ + if ((ikData->flag & CONSTRAINT_SPLINEIK_EVENSPLITS) || (totLength == 0.0f)) { + /* 1) equi-spaced joints */ + ikData->points[i+1]= ikData->points[i] - segmentLen; } else { - /* 'tip' of chain, special exception for the first joint */ - ikData->points[0]= 1.0f; + /* 2) to find this point on the curve, we take a step from the previous joint + * a distance given by the proportion that this bone takes + */ + ikData->points[i+1]= ikData->points[i] - (boneLengths[i] / totLength); } } @@ -1785,7 +1812,7 @@ static void splineik_init_tree_from_pchan(Scene *scene, Object *ob, bPoseChannel } /* Tag which bones are members of Spline IK chains */ -static void splineik_init_tree(Scene *scene, Object *ob, float ctime) +static void splineik_init_tree(Scene *scene, Object *ob, float UNUSED(ctime)) { bPoseChannel *pchan; @@ -1990,7 +2017,9 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o /* finally, store the new transform */ copy_m4_m4(pchan->pose_mat, poseMat); VECCOPY(pchan->pose_head, poseHead); - VECCOPY(pchan->pose_tail, poseTail); + + /* recalculate tail, as it's now outdated after the head gets adjusted above! */ + where_is_pose_bone_tail(pchan); /* done! */ pchan->flag |= POSE_DONE; @@ -2055,8 +2084,7 @@ void pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4]) * but if this proves to be too problematic, switch back to the old system of operating directly on * the stored copy */ - QUATCOPY(quat, pchan->quat); - normalize_qt(quat); + normalize_qt_qt(quat, pchan->quat); quat_to_mat3(rmat, quat); } @@ -2203,6 +2231,15 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha } } +/* calculate tail of posechannel */ +void where_is_pose_bone_tail(bPoseChannel *pchan) +{ + float vec[3]; + + VECCOPY(vec, pchan->pose_mat[1]); + mul_v3_fl(vec, pchan->bone->length); + add_v3_v3v3(pchan->pose_tail, pchan->pose_head, vec); +} /* The main armature solver, does all constraints excluding IK */ /* pchan is validated, as having bone and parent pointer @@ -2239,13 +2276,28 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti offs_bone[3][1]+= parbone->length; /* Compose the matrix for this bone */ - if(bone->flag & BONE_HINGE) { // uses restposition rotation, but actual position + 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); + mul_m4_m4m4(tmat, tmat, tsmat); + + 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]; @@ -2321,9 +2373,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti /* calculate head */ VECCOPY(pchan->pose_head, pchan->pose_mat[3]); /* calculate tail */ - VECCOPY(vec, pchan->pose_mat[1]); - mul_v3_fl(vec, bone->length); - add_v3_v3v3(pchan->pose_tail, pchan->pose_head, vec); + where_is_pose_bone_tail(pchan); } /* This only reads anim data from channels, and writes to channels */ @@ -2341,7 +2391,7 @@ void where_is_pose (Scene *scene, Object *ob) if(ELEM(NULL, arm, scene)) return; if((ob->pose==NULL) || (ob->pose->flag & POSE_RECALC)) - armature_rebuild_pose(ob, arm); + armature_rebuild_pose(ob, arm); ctime= bsystem_time(scene, ob, (float)scene->r.cfra, 0.0); /* not accurate... */ |