diff options
Diffstat (limited to 'source/blender/blenkernel/intern/armature.c')
| -rw-r--r-- | source/blender/blenkernel/intern/armature.c | 244 |
1 files changed, 191 insertions, 53 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index 4d50c268397..8bb694f45e8 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -30,6 +30,8 @@ #include <math.h> #include <string.h> #include <stdio.h> +#include <float.h> + #include "MEM_guardedalloc.h" //XXX #include "nla.h" @@ -354,6 +356,117 @@ void bone_flip_name (char *name, int strip_number) sprintf (name, "%s%s%s%s", prefix, replace, suffix, number); } +/* Finds the best possible extension to the name on a particular axis. (For renaming, check for unique names afterwards) + * This assumes that bone names are at most 32 chars long! + * strip_number: removes number extensions (TODO: not used) + * axis: the axis to name on + * head/tail: the head/tail co-ordinate of the bone on the specified axis + */ +void bone_autoside_name (char *name, int strip_number, short axis, float head, float tail) +{ + int len; + char basename[32]={""}; + char extension[5]={""}; + + len= strlen(name); + if (len == 0) return; + strcpy(basename, name); + + /* Figure out extension to append: + * - The extension to append is based upon the axis that we are working on. + * - If head happens to be on 0, then we must consider the tail position as well to decide + * which side the bone is on + * -> If tail is 0, then it's bone is considered to be on axis, so no extension should be added + * -> Otherwise, extension is added from perspective of object based on which side tail goes to + * - If head is non-zero, extension is added from perspective of object based on side head is on + */ + if (axis == 2) { + /* z-axis - vertical (top/bottom) */ + if (IS_EQ(head, 0)) { + if (tail < 0) + strcpy(extension, "Bot"); + else if (tail > 0) + strcpy(extension, "Top"); + } + else { + if (head < 0) + strcpy(extension, "Bot"); + else + strcpy(extension, "Top"); + } + } + else if (axis == 1) { + /* y-axis - depth (front/back) */ + if (IS_EQ(head, 0)) { + if (tail < 0) + strcpy(extension, "Fr"); + else if (tail > 0) + strcpy(extension, "Bk"); + } + else { + if (head < 0) + strcpy(extension, "Fr"); + else + strcpy(extension, "Bk"); + } + } + else { + /* x-axis - horizontal (left/right) */ + if (IS_EQ(head, 0)) { + if (tail < 0) + strcpy(extension, "R"); + else if (tail > 0) + strcpy(extension, "L"); + } + else { + if (head < 0) + strcpy(extension, "R"); + else if (head > 0) + strcpy(extension, "L"); + } + } + + /* Simple name truncation + * - truncate if there is an extension and it wouldn't be able to fit + * - otherwise, just append to end + */ + if (extension[0]) { + int change = 1; + + while (change) { /* remove extensions */ + change = 0; + if (len > 2 && basename[len-2]=='.') { + if (basename[len-1]=='L' || basename[len-1] == 'R' ) { /* L R */ + basename[len-2] = '\0'; + len-=2; + change= 1; + } + } else if (len > 3 && basename[len-3]=='.') { + if ( (basename[len-2]=='F' && basename[len-1] == 'r') || /* Fr */ + (basename[len-2]=='B' && basename[len-1] == 'k') /* Bk */ + ) { + basename[len-3] = '\0'; + len-=3; + change= 1; + } + } else if (len > 4 && basename[len-4]=='.') { + if ( (basename[len-3]=='T' && basename[len-2]=='o' && basename[len-1] == 'p') || /* Top */ + (basename[len-3]=='B' && basename[len-2]=='o' && basename[len-1] == 't') /* Bot */ + ) { + basename[len-4] = '\0'; + len-=4; + change= 1; + } + } + } + + if ((32 - len) < strlen(extension) + 1) { /* add 1 for the '.' */ + strncpy(name, basename, len-strlen(extension)); + } + } + + sprintf(name, "%s.%s", basename, extension); +} /* ************* B-Bone support ******************* */ @@ -1305,18 +1418,27 @@ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected bPoseChannel *pchan, *pchanp, pchanw; bConstraint *con; - if(frompose==NULL) return; + if (frompose==NULL) return; /* exception, armature local layer should be proxied too */ - if(pose->proxy_layer) + if (pose->proxy_layer) ((bArmature *)ob->data)->layer= pose->proxy_layer; /* clear all transformation values from library */ rest_pose(frompose); - pchan= pose->chanbase.first; - for(; pchan; pchan= pchan->next) { - if(pchan->bone->layer & layer_protected) { + /* copy over all of the proxy's bone groups */ + /* TODO for later - implement 'local' bone groups as for constraints + * Note: this isn't trivial, as bones reference groups by index not by pointer, + * so syncing things correctly needs careful attention + */ + BLI_freelistN(&pose->agroups); + BLI_duplicatelist(&pose->agroups, &frompose->agroups); + pose->active_group= frompose->active_group; + + for (pchan= pose->chanbase.first; pchan; pchan= pchan->next) { + if (pchan->bone->layer & layer_protected) { + ListBase proxylocal_constraints = {NULL, NULL}; pchanp= get_pose_channel(frompose, pchan->name); /* copy posechannel to temp, but restore important pointers */ @@ -1327,9 +1449,16 @@ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected pchanw.child= pchan->child; pchanw.path= NULL; - /* constraints, set target ob pointer to own object */ + /* constraints - proxy constraints are flushed... local ones are added after + * 1. extract constraints not from proxy (CONSTRAINT_PROXY_LOCAL) from pchan's constraints + * 2. copy proxy-pchan's constraints on-to new + * 3. add extracted local constraints back on top + */ + extract_proxylocal_constraints(&proxylocal_constraints, &pchan->constraints); copy_constraints(&pchanw.constraints, &pchanp->constraints); + addlisttolist(&pchanw.constraints, &proxylocal_constraints); + /* constraints - set target ob pointer to own object */ for (con= pchanw.constraints.first; con; con= con->next) { bConstraintTypeInfo *cti= constraint_get_typeinfo(con); ListBase targets = {NULL, NULL}; @@ -1444,21 +1573,16 @@ static void initialize_posetree(struct Object *ob, bPoseChannel *pchan_tip) /* find IK constraint, and validate it */ for(con= pchan_tip->constraints.first; con; con= con->next) { - if(con->type==CONSTRAINT_TYPE_KINEMATIC) break; + if(con->type==CONSTRAINT_TYPE_KINEMATIC) { + data=(bKinematicConstraint*)con->data; + if (data->flag & CONSTRAINT_IK_AUTO) break; + if (data->tar==NULL) continue; + if (data->tar->type==OB_ARMATURE && data->subtarget[0]==0) continue; + if ((con->flag & CONSTRAINT_DISABLE)==0 && (con->enforce!=0.0)) break; + } } if(con==NULL) return; - data=(bKinematicConstraint*)con->data; - - /* two types of targets */ - if(data->flag & CONSTRAINT_IK_AUTO); - else { - if(con->flag & CONSTRAINT_DISABLE) return; /* checked in editconstraint.c */ - if(con->enforce == 0.0f) return; - if(data->tar==NULL) return; - if(data->tar->type==OB_ARMATURE && data->subtarget[0]==0) return; - } - /* exclude tip from chain? */ if(!(data->flag & CONSTRAINT_IK_TIP)) pchan_tip= pchan_tip->parent; @@ -1561,7 +1685,7 @@ static void initialize_posetree(struct Object *ob, bPoseChannel *pchan_tip) were executed & assigned. Now as last we do an IK pass */ static void execute_posetree(Object *ob, PoseTree *tree) { - float R_parmat[3][3]; + float R_parmat[3][3], identity[3][3]; float iR_parmat[3][3]; float R_bonemat[3][3]; float goalrot[3][3], goalpos[3]; @@ -1570,7 +1694,8 @@ static void execute_posetree(Object *ob, PoseTree *tree) float irest_basis[3][3], full_basis[3][3]; float end_pose[4][4], world_pose[4][4]; float length, basis[3][3], rest_basis[3][3], start[3], *ikstretch=NULL; - int a, flag, hasstretch=0; + float resultinf=0.0f; + int a, flag, hasstretch=0, resultblend=0; bPoseChannel *pchan; IK_Segment *seg, *parent, **iktree, *iktarget; IK_Solver *solver; @@ -1580,13 +1705,13 @@ static void execute_posetree(Object *ob, PoseTree *tree) if (tree->totchannel == 0) return; - + iktree= MEM_mallocN(sizeof(void*)*tree->totchannel, "ik tree"); for(a=0; a<tree->totchannel; a++) { pchan= tree->pchan[a]; bone= pchan->bone; - + /* set DoF flag */ flag= 0; if(!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP)) @@ -1595,32 +1720,32 @@ static void execute_posetree(Object *ob, PoseTree *tree) flag |= IK_YDOF; if(!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag & BONE_IK_NO_ZDOF_TEMP)) flag |= IK_ZDOF; - + if(tree->stretch && (pchan->ikstretch > 0.0)) { flag |= IK_TRANS_YDOF; hasstretch = 1; } - + seg= iktree[a]= IK_CreateSegment(flag); - + /* find parent */ if(a == 0) parent= NULL; else parent= iktree[tree->parent[a]]; - + IK_SetParent(seg, parent); - + /* get the matrix that transforms from prevbone into this bone */ Mat3CpyMat4(R_bonemat, pchan->pose_mat); - + /* gather transformations for this IK segment */ - + if (pchan->parent) Mat3CpyMat4(R_parmat, pchan->parent->pose_mat); else Mat3One(R_parmat); - + /* bone offset */ if (pchan->parent && (a > 0)) VecSubf(start, pchan->pose_head, pchan->parent->pose_tail); @@ -1630,40 +1755,40 @@ static void execute_posetree(Object *ob, PoseTree *tree) /* change length based on bone size */ length= bone->length*VecLength(R_bonemat[1]); - + /* compute rest basis and its inverse */ Mat3CpyMat3(rest_basis, bone->bone_mat); Mat3CpyMat3(irest_basis, bone->bone_mat); Mat3Transp(irest_basis); - + /* compute basis with rest_basis removed */ Mat3Inv(iR_parmat, R_parmat); Mat3MulMat3(full_basis, iR_parmat, R_bonemat); Mat3MulMat3(basis, irest_basis, full_basis); - + /* basis must be pure rotation */ Mat3Ortho(basis); - + /* transform offset into local bone space */ Mat3Ortho(iR_parmat); Mat3MulVecfl(iR_parmat, start); - + IK_SetTransform(seg, start, rest_basis, basis, length); - + if (pchan->ikflag & BONE_IK_XLIMIT) IK_SetLimit(seg, IK_X, pchan->limitmin[0], pchan->limitmax[0]); if (pchan->ikflag & BONE_IK_YLIMIT) IK_SetLimit(seg, IK_Y, pchan->limitmin[1], pchan->limitmax[1]); if (pchan->ikflag & BONE_IK_ZLIMIT) IK_SetLimit(seg, IK_Z, pchan->limitmin[2], pchan->limitmax[2]); - + IK_SetStiffness(seg, IK_X, pchan->stiffness[0]); IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]); IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]); - + if(tree->stretch && (pchan->ikstretch > 0.0)) { float ikstretch = pchan->ikstretch*pchan->ikstretch; - IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0-ikstretch, 0.999)); + IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0-ikstretch, 0.99)); IK_SetLimit(seg, IK_TRANS_Y, 0.001, 1e10); } } @@ -1689,7 +1814,7 @@ static void execute_posetree(Object *ob, PoseTree *tree) for (target=tree->targets.first; target; target=target->next) { float polepos[3]; int poleconstrain= 0; - + data= (bKinematicConstraint*)target->con->data; /* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though @@ -1706,7 +1831,7 @@ static void execute_posetree(Object *ob, PoseTree *tree) /* same for pole vector target */ if(data->poletar) { get_constraint_target_matrix(target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); - + if(data->flag & CONSTRAINT_IK_SETANGLE) { /* don't solve IK when we are setting the pole angle */ break; @@ -1716,6 +1841,12 @@ static void execute_posetree(Object *ob, PoseTree *tree) VECCOPY(polepos, goal[3]); poleconstrain= 1; + /* for pole targets, we blend the result of the ik solver + * instead of the target position, otherwise we can't get + * a smooth transition */ + resultblend= 1; + resultinf= target->con->enforce; + if(data->flag & CONSTRAINT_IK_GETANGLE) { poleangledata= data; data->flag &= ~CONSTRAINT_IK_GETANGLE; @@ -1724,7 +1855,7 @@ static void execute_posetree(Object *ob, PoseTree *tree) } /* do we need blending? */ - if (target->con->enforce!=1.0) { + if (!resultblend && target->con->enforce!=1.0) { float q1[4], q2[4], q[4]; float fac= target->con->enforce; float mfac= 1.0-fac; @@ -1774,36 +1905,41 @@ static void execute_posetree(Object *ob, PoseTree *tree) tree->basis_change= MEM_mallocN(sizeof(float[3][3])*tree->totchannel, "ik basis change"); if(hasstretch) ikstretch= MEM_mallocN(sizeof(float)*tree->totchannel, "ik stretch"); - + for(a=0; a<tree->totchannel; a++) { IK_GetBasisChange(iktree[a], tree->basis_change[a]); - + if(hasstretch) { /* have to compensate for scaling received from parent */ float parentstretch, stretch; - + pchan= tree->pchan[a]; parentstretch= (tree->parent[a] >= 0)? ikstretch[tree->parent[a]]: 1.0; - + if(tree->stretch && (pchan->ikstretch > 0.0)) { float trans[3], length; - + IK_GetTranslationChange(iktree[a], trans); length= pchan->bone->length*VecLength(pchan->pose_mat[1]); - + ikstretch[a]= (length == 0.0)? 1.0: (trans[1]+length)/length; } else ikstretch[a] = 1.0; - + stretch= (parentstretch == 0.0)? 1.0: ikstretch[a]/parentstretch; - + VecMulf(tree->basis_change[a][0], stretch); VecMulf(tree->basis_change[a][1], stretch); VecMulf(tree->basis_change[a][2], stretch); - } + if(resultblend && resultinf!=1.0f) { + Mat3One(identity); + Mat3BlendMat3(tree->basis_change[a], identity, + tree->basis_change[a], resultinf); + } + IK_FreeSegment(iktree[a]); } @@ -2072,8 +2208,10 @@ static void where_is_pose_bone(Object *ob, bPoseChannel *pchan, float ctime) } else { Mat4MulMat4(pchan->pose_mat, pchan->chan_mat, bone->arm_mat); - /* only rootbones get the cyclic offset */ - VecAddf(pchan->pose_mat[3], pchan->pose_mat[3], ob->pose->cyclic_offset); + + /* only rootbones get the cyclic offset (unless user doesn't want that) */ + if ((bone->flag & BONE_NO_CYCLICOFFSET) == 0) + VecAddf(pchan->pose_mat[3], pchan->pose_mat[3], ob->pose->cyclic_offset); } /* do NLA strip modifiers - i.e. curve follow */ |