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Diffstat (limited to 'source/blender/blenkernel/intern/ika.c')
-rw-r--r--source/blender/blenkernel/intern/ika.c596
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diff --git a/source/blender/blenkernel/intern/ika.c b/source/blender/blenkernel/intern/ika.c
deleted file mode 100644
index 32903590043..00000000000
--- a/source/blender/blenkernel/intern/ika.c
+++ /dev/null
@@ -1,596 +0,0 @@
-
-/* ika.c
- *
- *
- * $Id$
- *
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License. See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#include <math.h>
-#include <stdlib.h>
-
-#include "MEM_guardedalloc.h"
-
-/* types */
-#include "DNA_ika_types.h"
-#include "DNA_object_types.h"
-#include "DNA_scene_types.h"
-#include "DNA_view3d_types.h"
-
-#include "BLI_blenlib.h"
-#include "BLI_arithb.h"
-/* functions */
-#include "BKE_blender.h"
-#include "BKE_library.h"
-#include "BKE_global.h"
-#include "BKE_main.h"
-#include "BKE_object.h"
-#include "BKE_ika.h"
-
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
-/* Let's go! */
-#define TOLER 0.000076
-#define CLAMP(a, b, c) if((a)<(b)) (a)=(b); else if((a)>(c)) (a)=(c)
-
-
-void unlink_ika(Ika *ika)
-{
-
-
-}
-
-/* do not free Ika itself */
-void free_ika(Ika *ika)
-{
-
- /* unimplemented!!! */
- unlink_ika(ika);
-
- BLI_freelistN(&ika->limbbase);
-
- if(ika->def) MEM_freeN(ika->def);
-}
-
-Ika *add_ika()
-{
- Ika *ika;
-
- ika= alloc_libblock(&G.main->ika, ID_IK, "Ika");
- ika->flag = IK_GRABEFF | IK_XYCONSTRAINT;
-
- ika->xyconstraint= 0.5f;
- ika->mem= 0.3f;
- ika->iter= 6;
-
- return ika;
-}
-
-Ika *copy_ika(Ika *ika)
-{
- Ika *ikan;
-
- ikan= copy_libblock(ika);
-
- duplicatelist(&ikan->limbbase, &ika->limbbase);
-
- ikan->def= MEM_dupallocN(ikan->def);
-
- return ikan;
-}
-
-void make_local_ika(Ika *ika)
-{
- Object *ob;
- Ika *ikan;
- int local=0, lib=0;
-
- /* - only lib users: dont do
- * - only local users: set flag
- * - mixed: copy
- */
-
- if(ika->id.lib==0) return;
- if(ika->id.us==1) {
- ika->id.lib= 0;
- ika->id.flag= LIB_LOCAL;
- new_id(0, (ID *)ika, 0);
- return;
- }
-
- ob= G.main->object.first;
- while(ob) {
- if(ob->data==ika) {
- if(ob->id.lib) lib= 1;
- else local= 1;
- }
- ob= ob->id.next;
- }
-
- if(local && lib==0) {
- ika->id.lib= 0;
- ika->id.flag= LIB_LOCAL;
- new_id(0, (ID *)ika, 0);
- }
- else if(local && lib) {
- ikan= copy_ika(ika);
- ikan->id.us= 0;
-
- ob= G.main->object.first;
- while(ob) {
- if(ob->data==ika) {
-
- if(ob->id.lib==0) {
- ob->data= ikan;
- ikan->id.us++;
- ika->id.us--;
- }
- }
- ob= ob->id.next;
- }
- }
-}
-
-int count_limbs(Object *ob)
-{
- int tot=0;
- Ika *ika;
- Limb *li;
-
- if(ob->type!=OB_IKA) return 0;
- ika= ob->data;
-
- li= ika->limbbase.first;
- while(li) {
- tot++;
- li= li->next;
- }
- return tot;
-}
-
-/* ************************************************** */
-
-
-/* using eff[ ] and len and alpha */
-void calc_limb(Limb *li)
-{
- Limb *prev= li;
- float vec[2], alpha= 0.0;
-
- /* alpha from 'parents' */
- while( (prev=prev->prev) ) {
- alpha+= prev->alpha;
- }
-
- if(li->prev) {
- vec[0]= -li->prev->eff[0];
- vec[1]= -li->prev->eff[1];
- }
- else vec[0]= vec[1]= 0.0;
-
- vec[0]+= li->eff[0];
- vec[1]+= li->eff[1];
-
- li->alpha= (float)atan2(vec[1], vec[0]) - alpha;
- li->len= (float)sqrt(vec[0]*vec[0] + vec[1]*vec[1]);
-
-}
-
-/* using len and alpha the endpoints are calculated */
-void calc_ika(Ika *ika, Limb *li)
-{
- float alpha=0.0, co, si;
-
- if(li) {
- Limb *prev= li;
- while((prev=prev->prev)) {
- alpha+= prev->alpha;
- }
- }
- else li= ika->limbbase.first;
-
- while(li) {
- if(li->alpha != li->alpha) li->alpha= 0.0f; /* NaN patch */
-
- alpha+= li->alpha;
-
- co= (float)cos(alpha);
- si= (float)sin(alpha);
-
- li->eff[0]= co*li->len;
- li->eff[1]= si*li->len;
-
- if(li->prev) {
- li->eff[0]+= li->prev->eff[0];
- li->eff[1]+= li->prev->eff[1];
- }
-
- if(li->next==0) {
- ika->eff[0]= li->eff[0];
- ika->eff[1]= li->eff[1];
- }
-
- li= li->next;
- }
-}
-
-void init_defstate_ika(Object *ob)
-{
- Ika *ika;
- Limb *li;
-
- ika= ob->data;
- ika->totx= 0.0;
- ika->toty= 0.0;
- li= ika->limbbase.first;
-
- calc_ika(ika, 0); /* correct endpoints */
-
- while(li) {
- li->alphao= li->alpha;
- li->leno= li->len;
-
- li= li->next;
- }
- ika->eff[2]= 0.0;
- VecMat4MulVecfl(ika->effg, ob->obmat, ika->eff);
-}
-
-void itterate_limb(Ika *ika, Limb *li)
-{
- float da, n1[2], n2[2], len1, len2;
-
- if(li->prev) {
- n1[0]= ika->eff[0] - li->prev->eff[0];
- n1[1]= ika->eff[1] - li->prev->eff[1];
- n2[0]= ika->effn[0] - li->prev->eff[0];
- n2[1]= ika->effn[1] - li->prev->eff[1];
- }
- else {
- n1[0]= ika->eff[0];
- n1[1]= ika->eff[1];
- n2[0]= ika->effn[0];
- n2[1]= ika->effn[1];
- }
- len1= (float)sqrt(n1[0]*n1[0] + n1[1]*n1[1]);
- len2= (float)sqrt(n2[0]*n2[0] + n2[1]*n2[1]);
-
- da= (1.0f-li->fac)*saacos( (n1[0]*n2[0]+n1[1]*n2[1])/(len1*len2) );
-
- if(n1[0]*n2[1] < n1[1]*n2[0]) da= -da;
-
- li->alpha+= da;
-
-}
-
-void rotate_ika(Object *ob, Ika *ika)
-{
- Limb *li;
- float len2, da, n1[2], n2[2];
-
- /* rotate back */
- euler_rot(ob->rot, -ika->toty, 'y');
- ika->toty= 0.0;
-
- where_is_object(ob);
-
- Mat4Invert(ob->imat, ob->obmat);
- VecMat4MulVecfl(ika->effn, ob->imat, ika->effg);
-
- li= ika->limbbase.last;
- if(li==0) return;
-
- n1[0]= ika->eff[0];
- n2[0]= ika->effn[0];
- n2[1]= ika->effn[2];
-
- len2= (float)sqrt(n2[0]*n2[0] + n2[1]*n2[1]);
-
- if(len2>TOLER) {
- da= (n2[0])/(len2);
- if(n1[0]<0.0) da= -da;
-
- /* when the x component is almost zero, this can happen */
- if(da<=-1.0+TOLER || da>=1.0) ;
- else {
-
- da= saacos( da );
- if(n1[0]*n2[1] > 0.0) da= -da;
-
- euler_rot(ob->rot, da, 'y');
- ika->toty= da;
- }
- }
-}
-
-void rotate_ika_xy(Object *ob, Ika *ika)
-{
- Limb *li;
- float ang, da, n1[3], n2[3], axis[3], quat[4];
-
- /* rotate back */
- euler_rot(ob->rot, -ika->toty, 'y');
- euler_rot(ob->rot, -ika->totx, 'x');
-
- where_is_object(ob);
-
- Mat4Invert(ob->imat, ob->obmat);
- VecMat4MulVecfl(ika->effn, ob->imat, ika->effg);
-
- li= ika->limbbase.last;
- if(li==0) return;
-
- /* ika->eff = old situation */
- /* ika->effn = desired situation */
-
- *(n1)= *(ika->effn);
- *(n1+1)= *(ika->effn+1);
- *(n1+2)= 0.0;
-
- *(n2)= *(ika->effn);
- *(n2+1)= *(ika->effn+1);
- *(n2+2)= *(ika->effn+2);
-
- Normalise(n1);
- Normalise(n2);
-
- ang= n1[0]*n2[0] + n1[1]*n2[1] + n1[2]*n2[2];
- ang= saacos(ang);
-
- if(ang<-0.0000001 || ang>0.00000001) {
- Crossf(axis, n1, n2);
- Normalise(axis);
- quat[0]= (float)cos(0.5*ang);
- da= (float)sin(0.5*ang);
- quat[1]= da*axis[0];
- quat[2]= da*axis[1];
- quat[3]= da*axis[2];
-
- QuatToEul(quat, axis);
-
- ika->totx= axis[0];
- CLAMP(ika->totx, -ika->xyconstraint, ika->xyconstraint);
- ika->toty= axis[1];
- CLAMP(ika->toty, -ika->xyconstraint, ika->xyconstraint);
- }
-
- euler_rot(ob->rot, ika->totx, 'x');
- euler_rot(ob->rot, ika->toty, 'y');
-}
-
-void itterate_ika(Object *ob)
-{
- Ika *ika;
- Limb *li;
- int it = 0;
-
- ika= ob->data;
- if((ika->flag & IK_GRABEFF)==0) return;
-
- disable_where_script(1);
- /* memory: handle large steps in time */
- it= abs(ika->lastfra - G.scene->r.cfra);
- ika->lastfra= G.scene->r.cfra;
- if(it>10) {
-
- /* one itteration extra */
- itterate_ika(ob);
- }
- else {
- li= ika->limbbase.first;
- while(li) {
- li->alpha= (1.0f-ika->mem)*li->alpha + ika->mem*li->alphao;
- li= li->next;
- }
- }
- calc_ika(ika, 0);
-
- /* effector has parent? */
- if(ika->parent) {
-
- if(ika->partype==PAROBJECT) {
- if(ika->parent->ctime != (float) G.scene->r.cfra) where_is_object(ika->parent);
- *(ika->effg)= *(ika->parent->obmat[3]);
- *(ika->effg+1)= *(ika->parent->obmat[3]+1);
- *(ika->effg+2)= *(ika->parent->obmat[3]+2);
- }
- else {
- what_does_parent1(ika->parent, ika->partype, ika->par1, 0, 0);
- *(ika->effg)= *(workob.obmat[3]);
- *(ika->effg+1)= *(workob.obmat[3]+1);
- *(ika->effg+2)= *(workob.obmat[3]+2);
- }
- }
-
-
- /* rotate y-as correctly */
- if(ika->flag & IK_XYCONSTRAINT)
- rotate_ika_xy(ob, ika);
- else
- rotate_ika(ob, ika);
-
- it= ika->iter;
- while(it--) {
-
- where_is_object(ob);
- Mat4Invert(ob->imat, ob->obmat);
- VecMat4MulVecfl(ika->effn, ob->imat, ika->effg);
- /* forward orfer: to do the first limbs as well */
- li= ika->limbbase.first;
- while(li) {
-
- itterate_limb(ika, li);
-
- /* zet je calc_ika() buiten deze lus: lange kettingen instabiel */
- calc_ika(ika, li);
-
- li= li->next;
- }
-
- where_is_object(ob);
- Mat4Invert(ob->imat, ob->obmat);
- VecMat4MulVecfl(ika->effn, ob->imat, ika->effg);
-
- /* backward */
- li= ika->limbbase.last;
- while(li) {
-
- itterate_limb(ika, li);
-
- /* when you put calc_ika() outside this loop: long chains get instable */
- calc_ika(ika, li);
-
- li= li->prev;
- }
- }
-
- disable_where_script(0);
-}
-
-
-void do_all_ikas()
-{
- Base *base = 0;
-
- base= G.scene->base.first;
- while(base) {
-
- if(base->object->type==OB_IKA) itterate_ika(base->object);
-
- base= base->next;
- }
-}
-
-void do_all_visible_ikas()
-{
- Base *base = 0;
-
- base= G.scene->base.first;
- while(base) {
- if(base->lay & G.scene->lay) {
- if(base->object->type==OB_IKA) itterate_ika(base->object);
- }
- base= base->next;
- }
-}
-
-/* ******************** DEFORM ************************ */
-
-
-void init_skel_deform(Object *par, Object *ob)
-{
- Deform *def;
- Ika *ika;
- int a;
-
- /* deform:
- *
- * ob_vec * ob_obmat * def_imat (weight fie) * def_obmat * ob_imat = ob_vec'
- *
- * <----- premat ----> <---- postmat ---->
- */
-
- if(par->type!=OB_IKA) return;
-
- Mat4Invert(ob->imat, ob->obmat);
-
- ika= par->data;
- a= ika->totdef;
- def= ika->def;
- while(a--) {
-
- what_does_parent1(def->ob, def->partype, def->par1, def->par2, def->par3);
-
- Mat4MulMat4(def->premat, ob->obmat, def->imat);
- Mat4MulMat4(def->postmat, workob.obmat, ob->imat);
-
- def++;
- }
-}
-
-
-void calc_skel_deform(Ika *ika, float *co)
-{
- Deform *def;
- int a;
- float totw=0.0, weight, fac, len, vec[3], totvec[3];
-
- def= ika->def;
- if(def==0) return;
- a= ika->totdef;
- totvec[0]=totvec[1]=totvec[2]= 0.0;
-
- while(a--) {
-
- VecMat4MulVecfl(vec, def->premat, co);
-
- len= (float)sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
-
- if(def->vec[0]==0.0f) len= 2.0f*len;
- else len= len + (float)sqrt( (vec[0]+def->vec[0])*(vec[0]+def->vec[0]) + vec[1]*vec[1] + vec[2]*vec[2]);
-
- /* def->vec[0]= len limb */
-
- weight= 1.0f/(0.001f+len);
- weight*= weight;
- weight*= weight;
- weight*= def->fac;
-
- len -= def->vec[0];
-
- if(def->dist != 0.0) {
- if(len >= def->dist) {
- weight= 0.0;
- }
- else {
- fac= (def->dist - len)/def->dist;
- weight*= fac;
- }
- }
- if(weight > 0.0) {
- Mat4MulVecfl(def->postmat, vec);
-
- VecMulf(vec, weight);
- VecAddf(totvec, totvec, vec);
-
- totw+= weight;
- }
- def++;
- }
-
- if(totw==0.0) return;
-
- co[0]= totvec[0]/totw;
- co[1]= totvec[1]/totw;
- co[2]= totvec[2]/totw;
-
-}
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