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path: root/source/blender/blenkernel/intern/armature.c
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Diffstat (limited to 'source/blender/blenkernel/intern/armature.c')
-rw-r--r--source/blender/blenkernel/intern/armature.c144
1 files changed, 99 insertions, 45 deletions
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index b320a7e0106..db384181982 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -504,39 +504,54 @@ static void pchan_b_bone_defmats(bPoseChannel *pchan)
Bone *bone= pchan->bone;
Mat4 *b_bone= b_bone_spline_setup(pchan);
Mat4 *b_bone_mats;
+ float tmat[4][4];
int a;
- pchan->b_bone_mats=b_bone_mats= MEM_mallocN((1+bone->segments)*sizeof(Mat4), "BBone defmats");
-
- /* first matrix is the inverse arm_mat, to bring points in local bone space */
+ /* 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;
+
+ /* 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);
-
- /* then we multiply the bbone_mats with 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);
+
for(a=0; a<bone->segments; a++) {
- Mat4MulMat4(b_bone_mats[a+1].mat, b_bone[a].mat, bone->arm_mat);
+ tmat[3][1] = -a*(bone->length/(float)bone->segments);
+
+ Mat4MulSerie(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);
}
}
-static void b_bone_deform(bPoseChannel *pchan, Bone *bone, float *defpos)
+static void b_bone_deform(bPoseChannel *pchan, Bone *bone, float *co, float defmat[][3])
{
Mat4 *b_bone= pchan->b_bone_mats;
- float segment;
+ float (*mat)[4]= b_bone[0].mat;
+ float segment, y;
int a;
- /* need to transform defpos back to bonespace */
- Mat4MulVecfl(b_bone[0].mat, defpos);
+ /* need to transform co back to bonespace, only need y */
+ y= mat[0][1]*co[0] + mat[1][1]*co[1] + mat[2][1]*co[2] + mat[3][1];
/* now calculate which of the b_bones are deforming this */
segment= bone->length/((float)bone->segments);
- a= (int) (defpos[1]/segment);
+ a= (int)(y/segment);
- /* note; by clamping it extends deform at endpoints, goes best with straight joints in restpos. */
+ /* note; by clamping it extends deform at endpoints, goes best with
+ straight joints in restpos. */
CLAMP(a, 0, bone->segments-1);
- /* since the bbone mats translate from (0.0.0) on the curve, we subtract */
- defpos[1] -= ((float)a)*segment;
-
- Mat4MulVecfl(b_bone[a+1].mat, defpos);
+ Mat4MulVecfl(b_bone[a+1].mat, co);
+
+ if(defmat)
+ Mat3CpyMat4(defmat, b_bone[a+1].mat);
}
/* using vec with dist to bone b1 - b2 */
@@ -590,12 +605,24 @@ float distfactor_to_bone (float vec[3], float b1[3], float b2[3], float rad1, fl
}
}
-static float dist_bone_deform(bPoseChannel *pchan, float *vec, float *co)
+static void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonemat[][3], float mat[][3])
+{
+ float wmat[3][3];
+
+ if(pchan->bone->segments>1)
+ Mat3CpyMat3(wmat, bbonemat);
+ else
+ Mat3CpyMat4(wmat, pchan->chan_mat);
+
+ Mat3MulFloat((float*)wmat, weight);
+ Mat3AddMat3(mat, mat, wmat);
+}
+
+static float dist_bone_deform(bPoseChannel *pchan, float *vec, float mat[][3], float *co)
{
Bone *bone= pchan->bone;
- float fac;
- float cop[3];
- float contrib=0.0;
+ float fac, contrib=0.0;
+ float cop[3], bbonemat[3][3];
if(bone==NULL) return 0.0f;
@@ -603,52 +630,58 @@ static float dist_bone_deform(bPoseChannel *pchan, float *vec, float *co)
fac= distfactor_to_bone(cop, bone->arm_head, bone->arm_tail, bone->rad_head, bone->rad_tail, bone->dist);
- if (fac>0.0){
+ if (fac>0.0) {
fac*=bone->weight;
contrib= fac;
if(contrib>0.0) {
-
- VECCOPY (cop, co);
-
if(bone->segments>1)
- b_bone_deform(pchan, bone, cop); // applies on cop
-
- Mat4MulVecfl(pchan->chan_mat, cop);
-
- VecSubf (cop, cop, co); // Make this a delta from the base position
+ // applies on cop and bbonemat
+ b_bone_deform(pchan, bone, cop, (mat)?bbonemat:NULL);
+ else
+ Mat4MulVecfl(pchan->chan_mat, cop);
+
+ // Make this a delta from the base position
+ VecSubf (cop, cop, co);
cop[0]*=fac; cop[1]*=fac; cop[2]*=fac;
VecAddf (vec, vec, cop);
+
+ if(mat)
+ pchan_deform_mat_add(pchan, fac, bbonemat, mat);
}
}
return contrib;
}
-static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, float *co, float *contrib)
+static void pchan_bone_deform(bPoseChannel *pchan, float weight, float *vec, float mat[][3], float *co, float *contrib)
{
- float cop[3];
+ float cop[3], bbonemat[3][3];
if (!weight)
return;
- VECCOPY (cop, co);
-
+ VECCOPY(cop, co);
+
if(pchan->bone->segments>1)
- b_bone_deform(pchan, pchan->bone, cop); // applies on cop
-
- Mat4MulVecfl(pchan->chan_mat, cop);
+ // applies on cop and bbonemat
+ b_bone_deform(pchan, pchan->bone, cop, (mat)?bbonemat:NULL);
+ else
+ Mat4MulVecfl(pchan->chan_mat, cop);
vec[0]+=(cop[0]-co[0])*weight;
vec[1]+=(cop[1]-co[1])*weight;
vec[2]+=(cop[2]-co[2])*weight;
+ if(mat)
+ pchan_deform_mat_add(pchan, weight, bbonemat, mat);
+
(*contrib)+=weight;
}
void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
- float (*vertexCos)[3], int numVerts, int deformflag,
- const char *defgrp_name)
+ float (*vertexCos)[3], float (*defMats)[3][3],
+ int numVerts, int deformflag, const char *defgrp_name)
{
bPoseChannel *pchan, **defnrToPC = NULL;
MDeformVert *dverts = NULL;
@@ -669,12 +702,11 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
/* bone defmats are already in the channels, chan_mat */
- /* initialize B_bone matrices */
- for(pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next) {
+ /* initialize B_bone matrices and dual quaternions */
+ for(pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next)
if(!(pchan->bone->flag & BONE_NO_DEFORM))
if(pchan->bone->segments > 1)
pchan_b_bone_defmats(pchan);
- }
/* get the def_nr for the overall armature vertex group if present */
for(i = 0, dg = target->defbase.first; dg; i++, dg = dg->next)
@@ -723,6 +755,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
for(i = 0; i < numVerts; i++) {
MDeformVert *dvert;
float *co = vertexCos[i];
+ float summat[3][3], (*smat)[3] = NULL;
float vec[3];
float contrib = 0.0f;
float armature_weight = 1.0f; /* default to 1 if no overall def group */
@@ -730,6 +763,11 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
vec[0] = vec[1] = vec[2] = 0.0f;
+ if(defMats) {
+ Mat3Clr((float*)summat);
+ smat = summat;
+ }
+
if(use_dverts || armature_def_nr >= 0) {
if(dm) dvert = dm->getVertData(dm, i, CD_MDEFORMVERT);
else if(dverts && i < target_totvert) dvert = dverts + i;
@@ -772,7 +810,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
bone->rad_tail,
bone->dist);
}
- pchan_bone_deform(pchan, weight, vec, co, &contrib);
+ pchan_bone_deform(pchan, weight, vec, smat, co, &contrib);
}
}
/* if there are vertexgroups but not groups with bones
@@ -782,7 +820,7 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
for(pchan = armOb->pose->chanbase.first; pchan;
pchan = pchan->next) {
if(!(pchan->bone->flag & BONE_NO_DEFORM))
- contrib += dist_bone_deform(pchan, vec, co);
+ contrib += dist_bone_deform(pchan, vec, smat, co);
}
}
}
@@ -790,15 +828,31 @@ void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm,
for(pchan = armOb->pose->chanbase.first; pchan;
pchan = pchan->next) {
if(!(pchan->bone->flag & BONE_NO_DEFORM))
- contrib += dist_bone_deform(pchan, vec, co);
+ contrib += dist_bone_deform(pchan, vec, smat, co);
}
}
/* actually should be EPSILON? weight values and contrib can be like 10e-39 small */
if(contrib > 0.0001f) {
- VecMulf(vec, armature_weight / contrib);
+ float scale = armature_weight/contrib;
+
+ VecMulf(vec, scale);
VecAddf(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]);
+
+ Mat3MulFloat((float*)smat, scale);
+ Mat3MulSerie(defMats[i], tmpmat, pre, smat, post,
+ NULL, NULL, NULL, NULL);
+ }
+
}
+
/* always, check above code */
Mat4MulVecfl(postmat, co);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-03 01:05:28 +0300