diff options
Diffstat (limited to 'source/blender/blenkernel/intern/armature.c')
-rw-r--r-- | source/blender/blenkernel/intern/armature.c | 336 |
1 files changed, 168 insertions, 168 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index 25151714569..ab1f60ea6a6 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -34,7 +34,7 @@ #include "MEM_guardedalloc.h" -#include "BLI_arithb.h" +#include "BLI_math.h" #include "BLI_blenlib.h" #include "DNA_armature_types.h" @@ -482,7 +482,7 @@ static void equalize_bezier(float *data, int desired) pdist[0]= 0.0f; for(a=0, fp= data; a<MAX_BBONE_SUBDIV; a++, fp+=4) { QUATCOPY(temp[a], fp); - pdist[a+1]= pdist[a]+VecLenf(fp, fp+4); + pdist[a+1]= pdist[a]+len_v3v3(fp, fp+4); } /* do last point */ QUATCOPY(temp[a], fp); @@ -532,16 +532,16 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) if(!rest) { /* check if we need to take non-uniform bone scaling into account */ - scale[0]= VecLength(pchan->pose_mat[0]); - scale[1]= VecLength(pchan->pose_mat[1]); - scale[2]= VecLength(pchan->pose_mat[2]); + scale[0]= len_v3(pchan->pose_mat[0]); + scale[1]= len_v3(pchan->pose_mat[1]); + scale[2]= len_v3(pchan->pose_mat[2]); if(fabs(scale[0] - scale[1]) > 1e-6f || fabs(scale[1] - scale[2]) > 1e-6f) { - Mat4One(scalemat); + unit_m4(scalemat); scalemat[0][0]= scale[0]; scalemat[1][1]= scale[1]; scalemat[2][2]= scale[2]; - Mat4Invert(iscalemat, scalemat); + invert_m4_m4(iscalemat, scalemat); length *= scale[1]; doscale = 1; @@ -564,15 +564,15 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) last point = (0, length, 0) */ if(rest) { - Mat4Invert(imat, pchan->bone->arm_mat); + invert_m4_m4(imat, pchan->bone->arm_mat); } else if(doscale) { - Mat4CpyMat4(posemat, pchan->pose_mat); - Mat4Ortho(posemat); - Mat4Invert(imat, posemat); + copy_m4_m4(posemat, pchan->pose_mat); + normalize_m4(posemat); + invert_m4_m4(imat, posemat); } else - Mat4Invert(imat, pchan->pose_mat); + invert_m4_m4(imat, pchan->pose_mat); if(prev) { float difmat[4][4], result[3][3], imat3[3][3]; @@ -582,7 +582,7 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) VECCOPY(h1, prev->bone->arm_head) else VECCOPY(h1, prev->pose_head) - Mat4MulVecfl(imat, h1); + mul_m4_v3(imat, h1); if(prev->bone->segments>1) { /* if previous bone is B-bone too, use average handle direction */ @@ -590,21 +590,21 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) roll1= 0.0f; } - Normalize(h1); - VecMulf(h1, -hlength1); + normalize_v3(h1); + mul_v3_fl(h1, -hlength1); if(prev->bone->segments==1) { /* find the previous roll to interpolate */ if(rest) - Mat4MulMat4(difmat, prev->bone->arm_mat, imat); + mul_m4_m4m4(difmat, prev->bone->arm_mat, imat); else - Mat4MulMat4(difmat, prev->pose_mat, imat); - Mat3CpyMat4(result, difmat); // the desired rotation at beginning of next bone + mul_m4_m4m4(difmat, prev->pose_mat, imat); + copy_m3_m4(result, difmat); // the desired rotation at beginning of next bone vec_roll_to_mat3(h1, 0.0f, mat3); // the result of vec_roll without roll - Mat3Inv(imat3, mat3); - Mat3MulMat3(mat3, result, imat3); // the matrix transforming vec_roll to desired roll + invert_m3_m3(imat3, mat3); + mul_m3_m3m3(mat3, result, imat3); // the matrix transforming vec_roll to desired roll roll1= (float)atan2(mat3[2][0], mat3[2][2]); } @@ -621,28 +621,28 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) VECCOPY(h2, next->bone->arm_tail) else VECCOPY(h2, next->pose_tail) - Mat4MulVecfl(imat, h2); + mul_m4_v3(imat, h2); /* if next bone is B-bone too, use average handle direction */ if(next->bone->segments>1); else h2[1]-= length; - Normalize(h2); + normalize_v3(h2); /* find the next roll to interpolate as well */ if(rest) - Mat4MulMat4(difmat, next->bone->arm_mat, imat); + mul_m4_m4m4(difmat, next->bone->arm_mat, imat); else - Mat4MulMat4(difmat, next->pose_mat, imat); - Mat3CpyMat4(result, difmat); // the desired rotation at beginning of next bone + mul_m4_m4m4(difmat, next->pose_mat, imat); + copy_m3_m4(result, difmat); // the desired rotation at beginning of next bone vec_roll_to_mat3(h2, 0.0f, mat3); // the result of vec_roll without roll - Mat3Inv(imat3, mat3); - Mat3MulMat3(mat3, imat3, result); // the matrix transforming vec_roll to desired roll + invert_m3_m3(imat3, mat3); + mul_m3_m3m3(mat3, imat3, result); // the matrix transforming vec_roll to desired roll roll2= (float)atan2(mat3[2][0], mat3[2][2]); /* and only now negate handle */ - VecMulf(h2, -hlength2); + mul_v3_fl(h2, -hlength2); } else { h2[0]= 0.0f; h2[1]= -hlength2; h2[2]= 0.0f; @@ -662,15 +662,15 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) /* make transformation matrices for the segments for drawing */ for(a=0, fp= data[0]; a<bone->segments; a++, fp+=4) { - VecSubf(h1, fp+4, fp); + sub_v3_v3v3(h1, fp+4, fp); vec_roll_to_mat3(h1, fp[3], mat3); // fp[3] is roll - Mat4CpyMat3(result_array[a].mat, mat3); + copy_m4_m3(result_array[a].mat, mat3); VECCOPY(result_array[a].mat[3], fp); if(doscale) { /* correct for scaling when this matrix is used in scaled space */ - Mat4MulSerie(result_array[a].mat, iscalemat, result_array[a].mat, + mul_serie_m4(result_array[a].mat, iscalemat, result_array[a].mat, scalemat, NULL, NULL, NULL, NULL, NULL); } } @@ -701,26 +701,26 @@ static void pchan_b_bone_defmats(bPoseChannel *pchan, int use_quaternion, int re /* first matrix is the inverse arm_mat, to bring points in local bone space for finding out which segment it belongs to */ - Mat4Invert(b_bone_mats[0].mat, bone->arm_mat); + invert_m4_m4(b_bone_mats[0].mat, bone->arm_mat); /* then we make the b_bone_mats: - first transform to local bone space - translate over the curve to the bbone mat space - transform with b_bone matrix - transform back into global space */ - Mat4One(tmat); + unit_m4(tmat); for(a=0; a<bone->segments; a++) { if(b_bone_rest) - Mat4Invert(tmat, b_bone_rest[a].mat); + invert_m4_m4(tmat, b_bone_rest[a].mat); else tmat[3][1] = -a*(bone->length/(float)bone->segments); - Mat4MulSerie(b_bone_mats[a+1].mat, pchan->chan_mat, bone->arm_mat, + mul_serie_m4(b_bone_mats[a+1].mat, pchan->chan_mat, bone->arm_mat, b_bone[a].mat, tmat, b_bone_mats[0].mat, NULL, NULL, NULL); if(use_quaternion) - Mat4ToDQuat(bone->arm_mat, b_bone_mats[a+1].mat, &b_bone_dual_quats[a]); + mat4_to_dquat( &b_bone_dual_quats[a],bone->arm_mat, b_bone_mats[a+1].mat); } } @@ -743,13 +743,13 @@ static void b_bone_deform(bPoseChannel *pchan, Bone *bone, float *co, DualQuat * CLAMP(a, 0, bone->segments-1); if(dq) { - DQuatCpyDQuat(dq, &((DualQuat*)pchan->b_bone_dual_quats)[a]); + copy_dq_dq(dq, &((DualQuat*)pchan->b_bone_dual_quats)[a]); } else { - Mat4MulVecfl(b_bone[a+1].mat, co); + mul_m4_v3(b_bone[a+1].mat, co); if(defmat) - Mat3CpyMat4(defmat, b_bone[a+1].mat); + copy_m3_m4(defmat, b_bone[a+1].mat); } } @@ -761,10 +761,10 @@ float distfactor_to_bone (float vec[3], float b1[3], float b2[3], float rad1, fl float pdelta[3]; float hsqr, a, l, rad; - VecSubf (bdelta, b2, b1); - l = Normalize (bdelta); + sub_v3_v3v3(bdelta, b2, b1); + l = normalize_v3(bdelta); - VecSubf (pdelta, vec, b1); + sub_v3_v3v3(pdelta, vec, b1); a = bdelta[0]*pdelta[0] + bdelta[1]*pdelta[1] + bdelta[2]*pdelta[2]; hsqr = ((pdelta[0]*pdelta[0]) + (pdelta[1]*pdelta[1]) + (pdelta[2]*pdelta[2])); @@ -809,12 +809,12 @@ static void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonem float wmat[3][3]; if(pchan->bone->segments>1) - Mat3CpyMat3(wmat, bbonemat); + copy_m3_m3(wmat, bbonemat); else - Mat3CpyMat4(wmat, pchan->chan_mat); + copy_m3_m4(wmat, pchan->chan_mat); - Mat3MulFloat((float*)wmat, weight); - Mat3AddMat3(mat, mat, wmat); + mul_m3_fl((float*)wmat, weight); + add_m3_m3m3(mat, mat, wmat); } static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, float mat[][3], float *co) @@ -840,12 +840,12 @@ static float dist_bone_deform(bPoseChannel *pchan, float *vec, DualQuat *dq, flo // applies on cop and bbonemat b_bone_deform(pchan, bone, cop, NULL, (mat)?bbonemat:NULL); else - Mat4MulVecfl(pchan->chan_mat, cop); + mul_m4_v3(pchan->chan_mat, cop); // Make this a delta from the base position - VecSubf (cop, cop, co); + sub_v3_v3v3(cop, cop, co); cop[0]*=fac; cop[1]*=fac; cop[2]*=fac; - VecAddf (vec, vec, cop); + add_v3_v3v3(vec, vec, cop); if(mat) pchan_deform_mat_add(pchan, fac, bbonemat, mat); @@ -853,10 +853,10 @@ 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); - DQuatAddWeighted(dq, &bbonedq, fac); + add_weighted_dq_dq(dq, &bbonedq, fac); } else - DQuatAddWeighted(dq, pchan->dual_quat, fac); + add_weighted_dq_dq(dq, pchan->dual_quat, fac); } } } @@ -879,7 +879,7 @@ static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, Dua // applies on cop and bbonemat b_bone_deform(pchan, pchan->bone, cop, NULL, (mat)?bbonemat:NULL); else - Mat4MulVecfl(pchan->chan_mat, cop); + mul_m4_v3(pchan->chan_mat, cop); vec[0]+=(cop[0]-co[0])*weight; vec[1]+=(cop[1]-co[1])*weight; @@ -891,10 +891,10 @@ 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); - DQuatAddWeighted(dq, &bbonedq, weight); + add_weighted_dq_dq(dq, &bbonedq, weight); } else - DQuatAddWeighted(dq, pchan->dual_quat, weight); + add_weighted_dq_dq(dq, pchan->dual_quat, weight); } (*contrib)+=weight; @@ -923,10 +923,10 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, if(arm->edbo) return; - Mat4Invert(obinv, target->obmat); - Mat4CpyMat4(premat, target->obmat); - Mat4MulMat4(postmat, armOb->obmat, obinv); - Mat4Invert(premat, postmat); + invert_m4_m4(obinv, target->obmat); + copy_m4_m4(premat, target->obmat); + mul_m4_m4m4(postmat, armOb->obmat, obinv); + invert_m4_m4(premat, postmat); /* bone defmats are already in the channels, chan_mat */ @@ -944,7 +944,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, if(use_quaternion) { pchan->dual_quat= &dualquats[totchan++]; - Mat4ToDQuat(pchan->bone->arm_mat, pchan->chan_mat, pchan->dual_quat); + mat4_to_dquat( pchan->dual_quat,pchan->bone->arm_mat, pchan->chan_mat); } } } @@ -1013,7 +1013,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, vec= sumvec; if(defMats) { - Mat3Clr((float*)summat); + zero_m3((float*)summat); smat = summat; } } @@ -1050,7 +1050,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, co= prevCos?prevCos[i]:vertexCos[i]; /* Apply the object's matrix */ - Mat4MulVecfl(premat, co); + mul_m4_v3(premat, co); if(use_dverts && dvert && dvert->totweight) { // use weight groups ? int deformed = 0; @@ -1096,42 +1096,42 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, /* actually should be EPSILON? weight values and contrib can be like 10e-39 small */ if(contrib > 0.0001f) { if(use_quaternion) { - DQuatNormalize(dq, contrib); + normalize_dq(dq, contrib); if(armature_weight != 1.0f) { VECCOPY(dco, co); - DQuatMulVecfl(dq, dco, (defMats)? summat: NULL); - VecSubf(dco, dco, co); - VecMulf(dco, armature_weight); - VecAddf(co, co, dco); + mul_v3m3_dq( dco, (defMats)? summat: NULL,dq); + sub_v3_v3v3(dco, dco, co); + mul_v3_fl(dco, armature_weight); + add_v3_v3v3(co, co, dco); } else - DQuatMulVecfl(dq, co, (defMats)? summat: NULL); + mul_v3m3_dq( co, (defMats)? summat: NULL,dq); smat = summat; } else { - VecMulf(vec, armature_weight/contrib); - VecAddf(co, vec, co); + mul_v3_fl(vec, armature_weight/contrib); + add_v3_v3v3(co, vec, co); } if(defMats) { float pre[3][3], post[3][3], tmpmat[3][3]; - Mat3CpyMat4(pre, premat); - Mat3CpyMat4(post, postmat); - Mat3CpyMat3(tmpmat, defMats[i]); + copy_m3_m4(pre, premat); + copy_m3_m4(post, postmat); + copy_m3_m3(tmpmat, defMats[i]); if(!use_quaternion) /* quaternion already is scale corrected */ - Mat3MulFloat((float*)smat, armature_weight/contrib); + mul_m3_fl((float*)smat, armature_weight/contrib); - Mat3MulSerie(defMats[i], tmpmat, pre, smat, post, + mul_serie_m3(defMats[i], tmpmat, pre, smat, post, NULL, NULL, NULL, NULL); } } /* always, check above code */ - Mat4MulVecfl(postmat, co); + mul_m4_v3(postmat, co); /* interpolate with previous modifier position using weight group */ @@ -1165,7 +1165,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, void get_objectspace_bone_matrix (struct Bone* bone, float M_accumulatedMatrix[][4], int root, int posed) { - Mat4CpyMat4(M_accumulatedMatrix, bone->arm_mat); + copy_m4_m4(M_accumulatedMatrix, bone->arm_mat); } /* **************** Space to Space API ****************** */ @@ -1179,10 +1179,10 @@ void armature_mat_world_to_pose(Object *ob, float inmat[][4], float outmat[][4]) if (ob==NULL) return; /* get inverse of (armature) object's matrix */ - Mat4Invert(obmat, ob->obmat); + invert_m4_m4(obmat, ob->obmat); /* multiply given matrix by object's-inverse to find pose-space matrix */ - Mat4MulMat4(outmat, obmat, inmat); + mul_m4_m4m4(outmat, obmat, inmat); } /* Convert Wolrd-Space Location to Pose-Space Location @@ -1195,7 +1195,7 @@ void armature_loc_world_to_pose(Object *ob, float *inloc, float *outloc) float nLocMat[4][4]; /* build matrix for location */ - Mat4One(xLocMat); + unit_m4(xLocMat); VECCOPY(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ @@ -1217,24 +1217,24 @@ void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outm /* get the inverse matrix of the pchan's transforms */ if (pchan->rotmode) - LocEulSizeToMat4(pc_trans, pchan->loc, pchan->eul, pchan->size); + loc_eul_size_to_mat4(pc_trans, pchan->loc, pchan->eul, pchan->size); else - LocQuatSizeToMat4(pc_trans, pchan->loc, pchan->quat, pchan->size); - Mat4Invert(inv_trans, pc_trans); + loc_quat_size_to_mat4(pc_trans, pchan->loc, pchan->quat, pchan->size); + 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 */ - Mat4MulMat4(pc_posemat, inv_trans, pchan->pose_mat); + mul_m4_m4m4(pc_posemat, inv_trans, pchan->pose_mat); /* get the inverse of the leftovers so that we can remove * that component from the supplied matrix */ - Mat4Invert(inv_posemat, pc_posemat); + invert_m4_m4(inv_posemat, pc_posemat); /* get the new matrix */ - Mat4MulMat4(outmat, inmat, inv_posemat); + mul_m4_m4m4(outmat, inmat, inv_posemat); } /* Convert Pose-Space Location to Bone-Space Location @@ -1247,7 +1247,7 @@ void armature_loc_pose_to_bone(bPoseChannel *pchan, float *inloc, float *outloc) float nLocMat[4][4]; /* build matrix for location */ - Mat4One(xLocMat); + unit_m4(xLocMat); VECCOPY(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ @@ -1263,8 +1263,8 @@ void armature_mat_pose_to_delta(float delta_mat[][4], float pose_mat[][4], float { float imat[4][4]; - Mat4Invert(imat, arm_mat); - Mat4MulMat4(delta_mat, pose_mat, imat); + invert_m4_m4(imat, arm_mat); + mul_m4_m4m4(delta_mat, pose_mat, imat); } /* **************** Rotation Mode Conversions ****************************** */ @@ -1280,33 +1280,33 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa if (newMode > 0) { /* to euler */ if (oldMode == ROT_MODE_AXISANGLE) { /* axis-angle to euler */ - AxisAngleToEulO(axis, *angle, eul, newMode); + axis_angle_to_eulO( eul, newMode,axis, *angle); } else if (oldMode == ROT_MODE_QUAT) { /* quat to euler */ - QuatToEulO(quat, eul, newMode); + quat_to_eulO( eul, newMode,quat); } /* else { no conversion needed } */ } else if (newMode == ROT_MODE_QUAT) { /* to quat */ if (oldMode == ROT_MODE_AXISANGLE) { /* axis angle to quat */ - AxisAngleToQuat(quat, axis, *angle); + axis_angle_to_quat(quat, axis, *angle); } else if (oldMode > 0) { /* euler to quat */ - EulOToQuat(eul, oldMode, quat); + eulO_to_quat( quat,eul, oldMode); } /* else { no conversion needed } */ } else if (newMode == ROT_MODE_AXISANGLE) { /* to axis-angle */ if (oldMode > 0) { /* euler to axis angle */ - EulOToAxisAngle(eul, oldMode, axis, angle); + eulO_to_axis_angle( axis, angle,eul, oldMode); } else if (oldMode == ROT_MODE_QUAT) { /* quat to axis angle */ - QuatToAxisAngle(quat, axis, angle); + quat_to_axis_angle( axis, angle,quat); } /* when converting to axis-angle, we need a special exception for the case when there is no axis */ @@ -1341,14 +1341,14 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa void mat3_to_vec_roll(float mat[][3], float *vec, float *roll) { if (vec) - VecCopyf(vec, mat[1]); + copy_v3_v3(vec, mat[1]); if (roll) { float vecmat[3][3], vecmatinv[3][3], rollmat[3][3]; vec_roll_to_mat3(mat[1], 0.0f, vecmat); - Mat3Inv(vecmatinv, vecmat); - Mat3MulMat3(rollmat, vecmatinv, mat); + invert_m3_m3(vecmatinv, vecmat); + mul_m3_m3m3(rollmat, vecmatinv, mat); *roll= (float)atan2(rollmat[2][0], rollmat[2][2]); } @@ -1363,26 +1363,26 @@ void vec_roll_to_mat3(float *vec, float roll, float mat[][3]) float rMatrix[3][3], bMatrix[3][3]; VECCOPY (nor, vec); - Normalize (nor); + normalize_v3(nor); /* Find Axis & Amount for bone matrix*/ - Crossf (axis,target,nor); + cross_v3_v3v3(axis,target,nor); - if (Inpf(axis,axis) > 0.0000000000001) { + if (dot_v3v3(axis,axis) > 0.0000000000001) { /* if nor is *not* a multiple of target ... */ - Normalize (axis); + normalize_v3(axis); - theta= NormalizedVecAngle2(target, nor); + theta= angle_normalized_v3v3(target, nor); /* Make Bone matrix*/ - VecRotToMat3(axis, theta, bMatrix); + vec_rot_to_mat3( bMatrix,axis, theta); } else { /* if nor is a multiple of target ... */ float updown; /* point same direction, or opposite? */ - updown = ( Inpf (target,nor) > 0 ) ? 1.0f : -1.0f; + updown = ( dot_v3v3(target,nor) > 0 ) ? 1.0f : -1.0f; /* I think this should work ... */ bMatrix[0][0]=updown; bMatrix[0][1]=0.0; bMatrix[0][2]=0.0; @@ -1391,10 +1391,10 @@ void vec_roll_to_mat3(float *vec, float roll, float mat[][3]) } /* Make Roll matrix*/ - VecRotToMat3(nor, roll, rMatrix); + vec_rot_to_mat3( rMatrix,nor, roll); /* Combine and output result*/ - Mat3MulMat3 (mat, rMatrix, bMatrix); + mul_m3_m3m3(mat, rMatrix, bMatrix); } @@ -1405,10 +1405,10 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone) float vec[3]; /* Bone Space */ - VecSubf (vec, bone->tail, bone->head); + sub_v3_v3v3(vec, bone->tail, bone->head); vec_roll_to_mat3(vec, bone->roll, bone->bone_mat); - bone->length= VecLenf(bone->head, bone->tail); + bone->length= len_v3v3(bone->head, bone->tail); /* this is called on old file reading too... */ if(bone->xwidth==0.0) { @@ -1421,7 +1421,7 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone) float offs_bone[4][4]; // yoffs(b-1) + root(b) + bonemat(b) /* bone transform itself */ - Mat4CpyMat3(offs_bone, bone->bone_mat); + copy_m4_m3(offs_bone, bone->bone_mat); /* The bone's root offset (is in the parent's coordinate system) */ VECCOPY(offs_bone[3], bone->head); @@ -1430,10 +1430,10 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone) offs_bone[3][1]+= prevbone->length; /* Compose the matrix for this bone */ - Mat4MulMat4(bone->arm_mat, offs_bone, prevbone->arm_mat); + mul_m4_m4m4(bone->arm_mat, offs_bone, prevbone->arm_mat); } else { - Mat4CpyMat3(bone->arm_mat, bone->bone_mat); + copy_m4_m3(bone->arm_mat, bone->bone_mat); VECCOPY(bone->arm_mat[3], bone->head); } @@ -1441,8 +1441,8 @@ void where_is_armature_bone(Bone *bone, Bone *prevbone) VECCOPY(bone->arm_head, bone->arm_mat[3]); /* tail is in current local coord system */ VECCOPY(vec, bone->arm_mat[1]); - VecMulf(vec, bone->length); - VecAddf(bone->arm_tail, bone->arm_head, vec); + mul_v3_fl(vec, bone->length); + add_v3_v3v3(bone->arm_tail, bone->arm_head, vec); /* and the kiddies */ prevbone= bone; @@ -1824,7 +1824,7 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o /* step 1a: get xyz positions for the tail endpoint of the bone */ if ( where_on_path(ikData->tar, tree->points[index], vec, dir, NULL, &rad) ) { /* convert the position to pose-space, then store it */ - Mat4MulVecfl(ob->imat, vec); + mul_m4_v3(ob->imat, vec); VECCOPY(poseTail, vec); /* set the new radius */ @@ -1834,7 +1834,7 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o /* step 1b: get xyz positions for the head endpoint of the bone */ if ( where_on_path(ikData->tar, tree->points[index+1], vec, dir, NULL, &rad) ) { /* store the position, and convert it to pose space */ - Mat4MulVecfl(ob->imat, vec); + mul_m4_v3(ob->imat, vec); VECCOPY(poseHead, vec); /* set the new radius (it should be the average value) */ @@ -1845,8 +1845,8 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o * - splineVec: the vector direction that the spline applies on the bone * - scaleFac: the factor that the bone length is scaled by to get the desired amount */ - VecSubf(splineVec, poseTail, poseHead); - scaleFac= VecLength(splineVec) / pchan->bone->length; + sub_v3_v3v3(splineVec, poseTail, poseHead); + scaleFac= len_v3(splineVec) / pchan->bone->length; /* step 3: compute the shortest rotation needed to map from the bone rotation to the current axis * - this uses the same method as is used for the Damped Track Constraint (see the code there for details) @@ -1861,45 +1861,45 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o VECCOPY(rmat[0], pchan->pose_mat[0]); VECCOPY(rmat[1], pchan->pose_mat[1]); VECCOPY(rmat[2], pchan->pose_mat[2]); - Mat3Ortho(rmat); + normalize_m3(rmat); /* also, normalise the orientation imposed by the bone, now that we've extracted the scale factor */ - Normalize(splineVec); + normalize_v3(splineVec); /* calculate smallest axis-angle rotation necessary for getting from the * current orientation of the bone, to the spline-imposed direction */ - Crossf(raxis, rmat[1], splineVec); + cross_v3_v3v3(raxis, rmat[1], splineVec); - rangle= Inpf(rmat[1], splineVec); + rangle= dot_v3v3(rmat[1], splineVec); rangle= acos( MAX2(-1.0f, MIN2(1.0f, rangle)) ); /* construct rotation matrix from the axis-angle rotation found above * - this call takes care to make sure that the axis provided is a unit vector first */ - AxisAngleToMat3(raxis, rangle, dmat); + axis_angle_to_mat3( dmat,raxis, rangle); /* combine these rotations so that the y-axis of the bone is now aligned as the spline dictates, * while still maintaining roll control from the existing bone animation */ - Mat3MulMat3(tmat, dmat, rmat); // m1, m3, m2 - Mat3Ortho(tmat); /* attempt to reduce shearing, though I doubt this'll really help too much now... */ - Mat4CpyMat3(poseMat, tmat); + mul_m3_m3m3(tmat, dmat, rmat); // m1, m3, m2 + normalize_m3(tmat); /* attempt to reduce shearing, though I doubt this'll really help too much now... */ + copy_m4_m3(poseMat, tmat); } /* step 4: set the scaling factors for the axes */ // TODO: include a no-scale option? { /* only multiply the y-axis by the scaling factor to get nice volume-preservation */ - VecMulf(poseMat[1], scaleFac); + mul_v3_fl(poseMat[1], scaleFac); /* set the scaling factors of the x and z axes from... */ switch (ikData->xzScaleMode) { case CONSTRAINT_SPLINEIK_XZS_RADIUS: { /* radius of curve */ - VecMulf(poseMat[0], radius); - VecMulf(poseMat[2], radius); + mul_v3_fl(poseMat[0], radius); + mul_v3_fl(poseMat[2], radius); } break; case CONSTRAINT_SPLINEIK_XZS_ORIGINAL: @@ -1908,11 +1908,11 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o float scale; /* x-axis scale */ - scale= VecLength(pchan->pose_mat[0]); - VecMulf(poseMat[0], scale); + scale= len_v3(pchan->pose_mat[0]); + mul_v3_fl(poseMat[0], scale); /* z-axis scale */ - scale= VecLength(pchan->pose_mat[2]); - VecMulf(poseMat[2], scale); + scale= len_v3(pchan->pose_mat[2]); + mul_v3_fl(poseMat[2], scale); } break; } @@ -1922,7 +1922,7 @@ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *o VECCOPY(poseMat[3], poseHead); /* finally, store the new transform */ - Mat4CpyMat4(pchan->pose_mat, poseMat); + copy_m4_m4(pchan->pose_mat, poseMat); VECCOPY(pchan->pose_head, poseHead); VECCOPY(pchan->pose_tail, poseTail); @@ -1974,26 +1974,26 @@ void chan_calc_mat(bPoseChannel *chan) float tmat[3][3]; /* get scaling matrix */ - SizeToMat3(chan->size, smat); + size_to_mat3( smat,chan->size); /* rotations may either be quats, eulers (with various rotation orders), or axis-angle */ if (chan->rotmode > 0) { /* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */ - EulOToMat3(chan->eul, chan->rotmode, rmat); + eulO_to_mat3( rmat,chan->eul, chan->rotmode); } else if (chan->rotmode == ROT_MODE_AXISANGLE) { /* axis-angle - not really that great for 3D-changing orientations */ - AxisAngleToMat3(chan->rotAxis, chan->rotAngle, rmat); + axis_angle_to_mat3( rmat,chan->rotAxis, chan->rotAngle); } else { /* quats are normalised before use to eliminate scaling issues */ - NormalQuat(chan->quat); // TODO: do this with local vars only! - QuatToMat3(chan->quat, rmat); + normalize_qt(chan->quat); // TODO: do this with local vars only! + quat_to_mat3( rmat,chan->quat); } /* calculate matrix of bone (as 3x3 matrix, but then copy the 4x4) */ - Mat3MulMat3(tmat, rmat, smat); - Mat4CpyMat3(chan->chan_mat, tmat); + mul_m3_m3m3(tmat, rmat, smat); + copy_m4_m3(chan->chan_mat, tmat); /* prevent action channels breaking chains */ /* need to check for bone here, CONSTRAINT_TYPE_ACTION uses this call */ @@ -2057,8 +2057,8 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha float mat4[4][4], mat3[3][3]; curve_deform_vector(scene, amod->ob, armob, bone->arm_mat[3], pchan->pose_mat[3], mat3, amod->no_rot_axis); - Mat4CpyMat4(mat4, pchan->pose_mat); - Mat4MulMat34(pchan->pose_mat, mat3, mat4); + copy_m4_m4(mat4, pchan->pose_mat); + mul_m4_m3m4(pchan->pose_mat, mat3, mat4); } } @@ -2075,8 +2075,8 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha /* make a copy of starting conditions */ VECCOPY(loc, pchan->pose_mat[3]); - Mat4ToEul(pchan->pose_mat, eul); - Mat4ToSize(pchan->pose_mat, size); + mat4_to_eul( eul,pchan->pose_mat); + mat4_to_size( size,pchan->pose_mat); VECCOPY(eulo, eul); VECCOPY(sizeo, size); @@ -2086,14 +2086,14 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha nor[0] = BLI_gNoise(amod->noisesize, size[0]+ofs, size[1], size[2], 0, 0) - ofs; nor[1] = BLI_gNoise(amod->noisesize, size[0], size[1]+ofs, size[2], 0, 0) - ofs; nor[2] = BLI_gNoise(amod->noisesize, size[0], size[1], size[2]+ofs, 0, 0) - ofs; - VecAddf(size, size, nor); + add_v3_v3v3(size, size, nor); if (sizeo[0] != 0) - VecMulf(pchan->pose_mat[0], size[0] / sizeo[0]); + mul_v3_fl(pchan->pose_mat[0], size[0] / sizeo[0]); if (sizeo[1] != 0) - VecMulf(pchan->pose_mat[1], size[1] / sizeo[1]); + mul_v3_fl(pchan->pose_mat[1], size[1] / sizeo[1]); if (sizeo[2] != 0) - VecMulf(pchan->pose_mat[2], size[2] / sizeo[2]); + mul_v3_fl(pchan->pose_mat[2], size[2] / sizeo[2]); } if (amod->channels & 2) { /* for rotation */ @@ -2102,10 +2102,10 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha nor[2] = BLI_gNoise(amod->noisesize, eul[0], eul[1], eul[2]+ofs, 0, 0) - ofs; compatible_eul(nor, eulo); - VecAddf(eul, eul, nor); + add_v3_v3v3(eul, eul, nor); compatible_eul(eul, eulo); - LocEulSizeToMat4(pchan->pose_mat, loc, eul, size); + loc_eul_size_to_mat4(pchan->pose_mat, loc, eul, size); } if (amod->channels & 1) { /* for location */ @@ -2113,7 +2113,7 @@ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseCha nor[1] = BLI_gNoise(amod->noisesize, loc[0], loc[1]+ofs, loc[2], 0, 0) - ofs; nor[2] = BLI_gNoise(amod->noisesize, loc[0], loc[1], loc[2]+ofs, 0, 0) - ofs; - VecAddf(pchan->pose_mat[3], loc, nor); + add_v3_v3v3(pchan->pose_mat[3], loc, nor); } } } @@ -2148,7 +2148,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti float offs_bone[4][4]; // yoffs(b-1) + root(b) + bonemat(b) /* bone transform itself */ - Mat4CpyMat3(offs_bone, bone->bone_mat); + copy_m4_m3(offs_bone, bone->bone_mat); /* The bone's root offset (is in the parent's coordinate system) */ VECCOPY(offs_bone[3], bone->head); @@ -2161,39 +2161,39 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti float tmat[4][4]; /* the rotation of the parent restposition */ - Mat4CpyMat4(tmat, parbone->arm_mat); + copy_m4_m4(tmat, parbone->arm_mat); /* the location of actual parent transform */ VECCOPY(tmat[3], offs_bone[3]); offs_bone[3][0]= offs_bone[3][1]= offs_bone[3][2]= 0.0f; - Mat4MulVecfl(parchan->pose_mat, tmat[3]); + mul_m4_v3(parchan->pose_mat, tmat[3]); - Mat4MulSerie(pchan->pose_mat, tmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); + 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]; /* get the official transform, but we only use the vector from it (optimize...) */ - Mat4MulSerie(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); + mul_serie_m4(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); VECCOPY(vec, pchan->pose_mat[3]); /* do this again, but with an ortho-parent matrix */ - Mat4CpyMat4(orthmat, parchan->pose_mat); - Mat4Ortho(orthmat); - Mat4MulSerie(pchan->pose_mat, orthmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); + 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); /* copy correct transform */ VECCOPY(pchan->pose_mat[3], vec); } else - Mat4MulSerie(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); + mul_serie_m4(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL); } else { - Mat4MulMat4(pchan->pose_mat, pchan->chan_mat, bone->arm_mat); + mul_m4_m4m4(pchan->pose_mat, pchan->chan_mat, bone->arm_mat); /* 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); + add_v3_v3v3(pchan->pose_mat[3], pchan->pose_mat[3], ob->pose->cyclic_offset); } /* do NLA strip modifiers - i.e. curve follow */ @@ -2229,8 +2229,8 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti VECCOPY(pchan->pose_head, pchan->pose_mat[3]); /* calculate tail */ VECCOPY(vec, pchan->pose_mat[1]); - VecMulf(vec, bone->length); - VecAddf(pchan->pose_tail, pchan->pose_head, vec); + mul_v3_fl(vec, bone->length); + add_v3_v3v3(pchan->pose_tail, pchan->pose_head, vec); } /* This only reads anim data from channels, and writes to channels */ @@ -2258,14 +2258,14 @@ void where_is_pose (Scene *scene, Object *ob) for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) { bone= pchan->bone; if(bone) { - Mat4CpyMat4(pchan->pose_mat, bone->arm_mat); + copy_m4_m4(pchan->pose_mat, bone->arm_mat); VECCOPY(pchan->pose_head, bone->arm_head); VECCOPY(pchan->pose_tail, bone->arm_tail); } } } else { - Mat4Invert(ob->imat, ob->obmat); // imat is needed + invert_m4_m4(ob->imat, ob->obmat); // imat is needed /* 1. clear flags */ for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) { @@ -2303,8 +2303,8 @@ void where_is_pose (Scene *scene, Object *ob) /* calculating deform matrices */ for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) { if(pchan->bone) { - Mat4Invert(imat, pchan->bone->arm_mat); - Mat4MulMat4(pchan->chan_mat, imat, pchan->pose_mat); + invert_m4_m4(imat, pchan->bone->arm_mat); + mul_m4_m4m4(pchan->chan_mat, imat, pchan->pose_mat); } } } |