Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/source/blender/ikplugin/intern/iksolver_plugin.c
diff options
context:
space:
mode:
Diffstat (limited to 'source/blender/ikplugin/intern/iksolver_plugin.c')
-rw-r--r--source/blender/ikplugin/intern/iksolver_plugin.c84
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);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-07 20:26:27 +0300