diff options
Diffstat (limited to 'source/blender/ikplugin/intern/iksolver_plugin.c')
-rw-r--r-- | source/blender/ikplugin/intern/iksolver_plugin.c | 84 |
1 files changed, 42 insertions, 42 deletions
diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c index 6eb1ef56094..e9378a7e12b 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.c +++ b/source/blender/ikplugin/intern/iksolver_plugin.c @@ -31,7 +31,7 @@ #include "BIK_api.h" #include "BLI_blenlib.h" -#include "BLI_arithb.h" +#include "BLI_math.h" #include "BKE_armature.h" #include "BKE_constraint.h" @@ -179,10 +179,10 @@ static void make_dmats(bPoseChannel *pchan) { if (pchan->parent) { float iR_parmat[4][4]; - Mat4Invert(iR_parmat, pchan->parent->pose_mat); - Mat4MulMat4(pchan->chan_mat, pchan->pose_mat, iR_parmat); // delta mat + invert_m4_m4(iR_parmat, pchan->parent->pose_mat); + mul_m4_m4m4(pchan->chan_mat, pchan->pose_mat, iR_parmat); // delta mat } - else Mat4CpyMat4(pchan->chan_mat, pchan->pose_mat); + else copy_m4_m4(pchan->chan_mat, pchan->pose_mat); } /* applies IK matrix to pchan, IK is done separated */ @@ -192,19 +192,19 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[][3]) // nr = t { float vec[3], ikmat[4][4]; - Mat4CpyMat3(ikmat, ik_mat); + copy_m4_m3(ikmat, ik_mat); if (pchan->parent) - Mat4MulSerie(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat, NULL, NULL, NULL, NULL, NULL); + mul_serie_m4(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat, NULL, NULL, NULL, NULL, NULL); else - Mat4MulMat4(pchan->pose_mat, ikmat, pchan->chan_mat); + mul_m4_m4m4(pchan->pose_mat, ikmat, pchan->chan_mat); /* calculate head */ VECCOPY(pchan->pose_head, pchan->pose_mat[3]); /* calculate tail */ VECCOPY(vec, pchan->pose_mat[1]); - VecMulf(vec, pchan->bone->length); - VecAddf(pchan->pose_tail, pchan->pose_head, vec); + mul_v3_fl(vec, pchan->bone->length); + add_v3_v3v3(pchan->pose_tail, pchan->pose_head, vec); pchan->flag |= POSE_DONE; } @@ -266,41 +266,41 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) IK_SetParent(seg, parent); /* get the matrix that transforms from prevbone into this bone */ - Mat3CpyMat4(R_bonemat, pchan->pose_mat); + copy_m3_m4(R_bonemat, pchan->pose_mat); /* gather transformations for this IK segment */ if (pchan->parent) - Mat3CpyMat4(R_parmat, pchan->parent->pose_mat); + copy_m3_m4(R_parmat, pchan->parent->pose_mat); else - Mat3One(R_parmat); + unit_m3(R_parmat); /* bone offset */ if (pchan->parent && (a > 0)) - VecSubf(start, pchan->pose_head, pchan->parent->pose_tail); + sub_v3_v3v3(start, pchan->pose_head, pchan->parent->pose_tail); else /* only root bone (a = 0) has no parent */ start[0]= start[1]= start[2]= 0.0f; /* change length based on bone size */ - length= bone->length*VecLength(R_bonemat[1]); + length= bone->length*len_v3(R_bonemat[1]); /* compute rest basis and its inverse */ - Mat3CpyMat3(rest_basis, bone->bone_mat); - Mat3CpyMat3(irest_basis, bone->bone_mat); - Mat3Transp(irest_basis); + copy_m3_m3(rest_basis, bone->bone_mat); + copy_m3_m3(irest_basis, bone->bone_mat); + transpose_m3(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); + invert_m3_m3(iR_parmat, R_parmat); + mul_m3_m3m3(full_basis, iR_parmat, R_bonemat); + mul_m3_m3m3(basis, irest_basis, full_basis); /* basis must be pure rotation */ - Mat3Ortho(basis); + normalize_m3(basis); /* transform offset into local bone space */ - Mat3Ortho(iR_parmat); - Mat3MulVecfl(iR_parmat, start); + normalize_m3(iR_parmat); + mul_m3_v3(iR_parmat, start); IK_SetTransform(seg, start, rest_basis, basis, length); @@ -332,13 +332,13 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* transform goal by parent mat, so this rotation is not part of the segment's basis. otherwise rotation limits do not work on the local transform of the segment itself. */ - Mat4CpyMat4(rootmat, pchan->parent->pose_mat); + copy_m4_m4(rootmat, pchan->parent->pose_mat); else - Mat4One(rootmat); + unit_m4(rootmat); VECCOPY(rootmat[3], pchan->pose_head); - Mat4MulMat4 (imat, rootmat, ob->obmat); - Mat4Invert (goalinv, imat); + mul_m4_m4m4(imat, rootmat, ob->obmat); + invert_m4_m4(goalinv, imat); for (target=tree->targets.first; target; target=target->next) { float polepos[3]; @@ -352,10 +352,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) get_constraint_target_matrix(scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); /* and set and transform goal */ - Mat4MulMat4(goal, rootmat, goalinv); + mul_m4_m4m4(goal, rootmat, goalinv); VECCOPY(goalpos, goal[3]); - Mat3CpyMat4(goalrot, goal); + copy_m3_m4(goalrot, goal); /* same for pole vector target */ if(data->poletar) { @@ -366,7 +366,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) break; } else { - Mat4MulMat4(goal, rootmat, goalinv); + mul_m4_m4m4(goal, rootmat, goalinv); VECCOPY(polepos, goal[3]); poleconstrain= 1; @@ -392,9 +392,9 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) pchan= tree->pchan[target->tip]; /* end effector in world space */ - Mat4CpyMat4(end_pose, pchan->pose_mat); + copy_m4_m4(end_pose, pchan->pose_mat); VECCOPY(end_pose[3], pchan->pose_tail); - Mat4MulSerie(world_pose, goalinv, ob->obmat, end_pose, 0, 0, 0, 0, 0); + mul_serie_m4(world_pose, goalinv, ob->obmat, end_pose, 0, 0, 0, 0, 0); /* blend position */ goalpos[0]= fac*goalpos[0] + mfac*world_pose[3][0]; @@ -402,10 +402,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) goalpos[2]= fac*goalpos[2] + mfac*world_pose[3][2]; /* blend rotation */ - Mat3ToQuat(goalrot, q1); - Mat4ToQuat(world_pose, q2); - QuatInterpol(q, q1, q2, mfac); - QuatToMat3(q, goalrot); + mat3_to_quat( q1,goalrot); + mat4_to_quat( q2,world_pose); + interp_qt_qtqt(q, q1, q2, mfac); + quat_to_mat3( goalrot,q); } iktarget= iktree[target->tip]; @@ -449,7 +449,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) float trans[3], length; IK_GetTranslationChange(iktree[a], trans); - length= pchan->bone->length*VecLength(pchan->pose_mat[1]); + length= pchan->bone->length*len_v3(pchan->pose_mat[1]); ikstretch[a]= (length == 0.0)? 1.0: (trans[1]+length)/length; } @@ -458,14 +458,14 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) 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); + mul_v3_fl(tree->basis_change[a][0], stretch); + mul_v3_fl(tree->basis_change[a][1], stretch); + mul_v3_fl(tree->basis_change[a][2], stretch); } if(resultblend && resultinf!=1.0f) { - Mat3One(identity); - Mat3BlendMat3(tree->basis_change[a], identity, + unit_m3(identity); + blend_m3_m3m3(tree->basis_change[a], identity, tree->basis_change[a], resultinf); } |