diff options
Diffstat (limited to 'source/blender/blenkernel/intern/armature.c')
| -rw-r--r-- | source/blender/blenkernel/intern/armature.c | 132 |
1 files changed, 84 insertions, 48 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index 531c1795497..97238020f29 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -170,8 +170,10 @@ static void copy_bonechildren(Bone *bone_dst, } /** - * Only copy internal data of Armature ID from source to already allocated/initialized destination. - * You probably never want to use that directly, use BKE_id_copy or BKE_id_copy_ex for typical needs. + * Only copy internal data of Armature ID from source + * to already allocated/initialized destination. + * You probably never want to use that directly, + * use #BKE_id_copy or #BKE_id_copy_ex for typical needs. * * WARNING! This function will not handle ID user count! * @@ -463,7 +465,8 @@ static void equalize_cubic_bezier(const float control[4][3], r_t_points[final_segments] = 1.0f; } -/* Evaluate bezier position and tangent at a specific parameter value using the De Casteljau algorithm. */ +/* Evaluate bezier position and tangent at a specific parameter value + * using the De Casteljau algorithm. */ static void evaluate_cubic_bezier(const float control[4][3], float t, float r_pos[3], @@ -809,9 +812,10 @@ void BKE_pchan_bbone_handles_compute(const BBoneSplineParameters *param, *r_roll2 += param->roll2; /* Extra curve x / y */ - /* NOTE: Scale correction factors here are to compensate for some random floating-point glitches - * when scaling up the bone or it's parent by a factor of approximately 8.15/6, which results - * in the bone length getting scaled up too (from 1 to 8), causing the curve to flatten out. + /* NOTE: + * Scale correction factors here are to compensate for some random floating-point glitches + * when scaling up the bone or it's parent by a factor of approximately 8.15/6, which results + * in the bone length getting scaled up too (from 1 to 8), causing the curve to flatten out. */ const float xscale_correction = (param->do_scale) ? param->scale[0] : 1.0f; const float yscale_correction = (param->do_scale) ? param->scale[2] : 1.0f; @@ -1059,7 +1063,8 @@ void BKE_pchan_bbone_segments_cache_copy(bPoseChannel *pchan, bPoseChannel *pcha } } -/** Calculate index and blend factor for the two B-Bone segment nodes affecting the point at 0 <= pos <= 1. */ +/** Calculate index and blend factor for the two B-Bone segment nodes + * affecting the point at 0 <= pos <= 1. */ void BKE_pchan_bbone_deform_segment_index(const bPoseChannel *pchan, float pos, int *r_index, @@ -1588,13 +1593,14 @@ void BKE_bone_offset_matrix_get(const Bone *bone, float offs_bone[4][4]) offs_bone[3][1] += bone->parent->length; } -/* Construct the matrices (rot/scale and loc) to apply the PoseChannels into the armature (object) space. +/* Construct the matrices (rot/scale and loc) + * to apply the PoseChannels into the armature (object) space. * I.e. (roughly) the "pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)" in the * pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) * ...function. * - * This allows to get the transformations of a bone in its object space, *before* constraints (and IK) - * get applied (used by pose evaluation code). + * This allows to get the transformations of a bone in its object space, + * *before* constraints (and IK) get applied (used by pose evaluation code). * And reverse: to find pchan transformations needed to place a bone at a given loc/rot/scale * in object space (used by interactive transform, and snapping code). * @@ -1695,7 +1701,8 @@ void BKE_bone_parent_transform_calc_from_matrices(int bone_flag, else if (bone_flag & (BONE_HINGE | BONE_NO_SCALE)) { mul_m4_m4m4(r_bpt->loc_mat, parent_pose_mat, offs_bone); } - /* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */ + /* Else (i.e. default, usual case), + * just use the same matrix for rotation/scaling, and location. */ else { copy_m4_m4(r_bpt->loc_mat, r_bpt->rotscale_mat); } @@ -1902,7 +1909,8 @@ void BKE_rotMode_change_values( 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 */ + /* When converting to axis-angle, + * we need a special exception for the case when there is no axis. */ if (IS_EQF(axis[0], axis[1]) && IS_EQF(axis[1], axis[2])) { /* for now, rotate around y-axis then (so that it simply becomes the roll) */ axis[1] = 1.0f; @@ -1957,50 +1965,72 @@ void mat3_vec_to_roll(const float mat[3][3], const float vec[3], float *r_roll) } /* Calculates the rest matrix of a bone based on its vector and a roll around that vector. */ -/* Given v = (v.x, v.y, v.z) our (normalized) bone vector, we want the rotation matrix M - * from the Y axis (so that M * (0, 1, 0) = v). - * -> The rotation axis a lays on XZ plane, and it is orthonormal to v, hence to the projection of v onto XZ plane. - * -> a = (v.z, 0, -v.x) +/** + * Given `v = (v.x, v.y, v.z)` our (normalized) bone vector, we want the rotation matrix M + * from the Y axis (so that `M * (0, 1, 0) = v`). + * - The rotation axis a lays on XZ plane, and it is orthonormal to v, + * hence to the projection of v onto XZ plane. + * - `a = (v.z, 0, -v.x)` + * * We know a is eigenvector of M (so M * a = a). - * Finally, we have w, such that M * w = (0, 1, 0) (i.e. the vector that will be aligned with Y axis once transformed). + * Finally, we have w, such that M * w = (0, 1, 0) + * (i.e. the vector that will be aligned with Y axis once transformed). * We know w is symmetric to v by the Y axis. - * -> w = (-v.x, v.y, -v.z) + * - `w = (-v.x, v.y, -v.z)` * * Solving this, we get (x, y and z being the components of v): + * <pre> * ┌ (x^2 * y + z^2) / (x^2 + z^2), x, x * z * (y - 1) / (x^2 + z^2) ┐ * M = │ x * (y^2 - 1) / (x^2 + z^2), y, z * (y^2 - 1) / (x^2 + z^2) │ * └ x * z * (y - 1) / (x^2 + z^2), z, (x^2 + z^2 * y) / (x^2 + z^2) ┘ + * </pre> + * + * This is stable as long as v (the bone) is not too much aligned with +/-Y + * (i.e. x and z components are not too close to 0). * - * This is stable as long as v (the bone) is not too much aligned with +/-Y (i.e. x and z components - * are not too close to 0). + * Since v is normalized, we have `x^2 + y^2 + z^2 = 1`, + * hence `x^2 + z^2 = 1 - y^2 = (1 - y)(1 + y)`. * - * Since v is normalized, we have x^2 + y^2 + z^2 = 1, hence x^2 + z^2 = 1 - y^2 = (1 - y)(1 + y). * This allows to simplifies M like this: + * <pre> * ┌ 1 - x^2 / (1 + y), x, -x * z / (1 + y) ┐ * M = │ -x, y, -z │ * └ -x * z / (1 + y), z, 1 - z^2 / (1 + y) ┘ + * </pre> * - * Written this way, we see the case v = +Y is no more a singularity. The only one remaining is the bone being - * aligned with -Y. + * Written this way, we see the case v = +Y is no more a singularity. + * The only one + * remaining is the bone being aligned with -Y. * - * Let's handle the asymptotic behavior when bone vector is reaching the limit of y = -1. Each of the four corner - * elements can vary from -1 to 1, depending on the axis a chosen for doing the rotation. And the "rotation" here - * is in fact established by mirroring XZ plane by that given axis, then inversing the Y-axis. - * For sufficiently small x and z, and with y approaching -1, all elements but the four corner ones of M - * will degenerate. So let's now focus on these corner elements. + * Let's handle + * the asymptotic behavior when bone vector is reaching the limit of y = -1. + * Each of the four corner elements can vary from -1 to 1, + * depending on the axis a chosen for doing the rotation. + * And the "rotation" here is in fact established by mirroring XZ plane by that given axis, + * then inversing the Y-axis. + * For sufficiently small x and z, and with y approaching -1, + * all elements but the four corner ones of M will degenerate. + * So let's now focus on these corner elements. * - * We rewrite M so that it only contains its four corner elements, and combine the 1 / (1 + y) factor: + * We rewrite M so that it only contains its four corner elements, + * and combine the `1 / (1 + y)` factor: + * <pre> * ┌ 1 + y - x^2, -x * z ┐ * M* = 1 / (1 + y) * │ │ * └ -x * z, 1 + y - z^2 ┘ + * </pre> + * + * When y is close to -1, computing 1 / (1 + y) will cause severe numerical instability, + * so we ignore it and normalize M instead. + * We know `y^2 = 1 - (x^2 + z^2)`, and `y < 0`, hence `y = -sqrt(1 - (x^2 + z^2))`. * - * When y is close to -1, computing 1 / (1 + y) will cause severe numerical instability, so we ignore it and - * normalize M instead. We know y^2 = 1 - (x^2 + z^2), and y < 0, hence y = -sqrt(1 - (x^2 + z^2)). * Since x and z are both close to 0, we apply the binomial expansion to the first order: - * y = -sqrt(1 - (x^2 + z^2)) = -1 + (x^2 + z^2) / 2. Which gives: + * `y = -sqrt(1 - (x^2 + z^2)) = -1 + (x^2 + z^2) / 2`. Which gives: + * <pre> * ┌ z^2 - x^2, -2 * x * z ┐ * M* = 1 / (x^2 + z^2) * │ │ * └ -2 * x * z, x^2 - z^2 ┘ + * </pre> */ void vec_roll_to_mat3_normalized(const float nor[3], const float roll, float mat[3][3]) { @@ -2200,13 +2230,14 @@ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected } } - /* 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 + /* 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. * - * Note for BKE_constraints_copy: when copying constraints, disable 'do_extern' otherwise - * we get the libs direct linked in this blend. + * Note for BKE_constraints_copy: + * When copying constraints, disable 'do_extern' otherwise + * we get the libs direct linked in this blend. */ BKE_constraints_proxylocal_extract(&proxylocal_constraints, &pchan->constraints); BKE_constraints_copy(&pchanw.constraints, &pchanp->constraints, false); @@ -2295,7 +2326,8 @@ static int rebuild_pose_bone(bPose *pose, Bone *bone, bPoseChannel *parchan, int } /** - * Clear pointers of object's pose (needed in remap case, since we cannot always wait for a complete pose rebuild). + * Clear pointers of object's pose + * (needed in remap case, since we cannot always wait for a complete pose rebuild). */ void BKE_pose_clear_pointers(bPose *pose) { @@ -2381,7 +2413,8 @@ void BKE_pose_rebuild(Main *bmain, Object *ob, bArmature *arm, const bool do_id_ /* synchronize protected layers with proxy */ /* HACK! To preserve 2.7x behavior that you always can pose even locked bones, * do not do any restoration if this is a COW temp copy! */ - /* Switched back to just NO_MAIN tag, for some reasons (c) using COW tag was working this morning, but not anymore... */ + /* Switched back to just NO_MAIN tag, for some reasons (c) + * using COW tag was working this morning, but not anymore... */ if (ob->proxy != NULL && (ob->id.tag & LIB_TAG_NO_MAIN) == 0) { BKE_object_copy_proxy_drivers(ob, ob->proxy); pose_proxy_synchronize(ob, ob->proxy, arm->layer_protected); @@ -2392,7 +2425,8 @@ void BKE_pose_rebuild(Main *bmain, Object *ob, bArmature *arm, const bool do_id_ pose->flag &= ~POSE_RECALC; pose->flag |= POSE_WAS_REBUILT; - /* Rebuilding poses forces us to also rebuild the dependency graph, since there is one node per pose/bone... */ + /* Rebuilding poses forces us to also rebuild the dependency graph, + * since there is one node per pose/bone. */ if (bmain != NULL) { DEG_relations_tag_update(bmain); } @@ -2412,7 +2446,8 @@ void BKE_pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4]) /* rotations may either be quats, eulers (with various rotation orders), or axis-angle */ if (pchan->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, pchan->eul, pchan->rotmode); } else if (pchan->rotmode == ROT_MODE_AXISANGLE) { @@ -2423,10 +2458,9 @@ void BKE_pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4]) /* quats are normalized before use to eliminate scaling issues */ float quat[4]; - /* NOTE: we now don't normalize the stored values anymore, since this was kindof evil in some cases - * but if this proves to be too problematic, switch back to the old system of operating directly on - * the stored copy - */ + /* NOTE: we now don't normalize the stored values anymore, + * since this was kindof evil in some cases but if this proves to be too problematic, + * switch back to the old system of operating directly on the stored copy. */ normalize_qt_qt(quat, pchan->quat); quat_to_mat3(rmat, quat); } @@ -2548,7 +2582,8 @@ void BKE_pose_where_is(struct Depsgraph *depsgraph, Scene *scene, Object *ob) return; } if ((ob->pose == NULL) || (ob->pose->flag & POSE_RECALC)) { - /* WARNING! passing NULL bmain here means we won't tag depsgraph's as dirty - hopefully this is OK. */ + /* WARNING! passing NULL bmain here means we won't tag depsgraph's as dirty - + * hopefully this is OK. */ BKE_pose_rebuild(NULL, ob, arm, true); } @@ -2615,7 +2650,8 @@ static int minmax_armature(Object *ob, float r_min[3], float r_max[3]) { bPoseChannel *pchan; - /* For now, we assume BKE_pose_where_is has already been called (hence we have valid data in pachan). */ + /* For now, we assume BKE_pose_where_is has already been called + * (hence we have valid data in pachan). */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { minmax_v3v3_v3(r_min, r_max, pchan->pose_head); minmax_v3v3_v3(r_min, r_max, pchan->pose_tail); |