diff options
Diffstat (limited to 'source/blender/ikplugin/intern/itasc_plugin.cpp')
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 36 |
1 files changed, 24 insertions, 12 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 5385366f075..72370158723 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -430,7 +430,8 @@ static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis) if (axis == 0) return -KDL::atan2(R(1,2), R(2,2)); else if(axis == 1) return KDL::atan2(-R(0,2), t); else return -KDL::atan2(R(0,1), R(0,0)); - } else { + } + else { if (axis == 0) return -KDL::atan2(-R(2,1), R(1,1)); else if(axis == 1) return KDL::atan2(-R(0,2), t); else return 0.0f; @@ -476,7 +477,8 @@ static void GetEulerXZY(const KDL::Rotation& R, double& X,double& Z,double& Y) X = -KDL::sign(R(0,1)) * KDL::atan2(R(1,2), R(1,0)); Z = -KDL::sign(R(0,1)) * KDL::PI / 2; Y = 0.0; - } else { + } + else { X = KDL::atan2(R(2,1), R(1,1)); Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2)))); Y = KDL::atan2(R(0,2), R(0,0)); @@ -489,7 +491,8 @@ static void GetEulerXYZ(const KDL::Rotation& R, double& X,double& Y,double& Z) X = KDL::sign(R(0,2)) * KDL::atan2(-R(1,0), R(1,1)); Y = KDL::sign(R(0,2)) * KDL::PI / 2; Z = 0.0; - } else { + } + else { X = KDL::atan2(-R(1,2), R(2,2)); Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1)))); Z = KDL::atan2(-R(0,1), R(0,0)); @@ -691,7 +694,8 @@ static bool copypose_callback(const iTaSC::Timestamp& timestamp, iTaSC::Constrai values->action = iTaSC::ACT_ALPHA; values++; } - } else { + } + else { if (iktarget->controlType & iTaSC::CopyPose::CTL_POSITION) { // update error values->alpha = condata->weight; @@ -745,7 +749,8 @@ static bool distance_callback(const iTaSC::Timestamp& timestamp, iTaSC::Constrai // update weight according to mode if (iktarget->blenderConstraint->flag & CONSTRAINT_OFF) { values->alpha = 0.0; - } else { + } + else { switch (condata->mode) { case LIMITDIST_INSIDE: values->alpha = (values->values[0].y > condata->dist) ? condata->weight : 0.0; @@ -996,7 +1001,8 @@ static void convert_pose(IK_Scene *ikscene) if (pchan->parent) { unit_m4(bmat); mul_m4_m4m3(bmat, pchan->parent->pose_mat, bone->bone_mat); - } else { + } + else { copy_m4_m4(bmat, bone->arm_mat); } invert_m4_m4(rmat, bmat); @@ -1076,7 +1082,8 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) if (!ikparam) { // you must have our own copy ikparam = &DefIKParam; - } else if (ingame) { + } + else if (ingame) { // tweak the param when in game to have efficient stepping // using fixed substep is not effecient since frames in the GE are often // shorter than in animation => move to auto step automatically and set @@ -1120,7 +1127,8 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) // in the GE, set the initial joint angle to match the current pose // this will update the jointArray in ikscene convert_pose(ikscene); - } else { + } + else { // in Blender, the rest pose is always 0 for joints rest_pose(ikscene); } @@ -1393,7 +1401,8 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) // move to the tail and scale to get rest pose of armature base copy_v3_v3(baseFrame[3], pchan->bone->arm_tail); invert_m4_m4(invBaseFrame, baseFrame); - } else { + } + else { unit_m4(invBaseFrame); } // finally add the constraint @@ -1538,7 +1547,8 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl ikchan->pchan->flag |= (POSE_DONE|POSE_CHAIN); ikchan->jointValid = 0; } - } else { + } + else { // in animation mode, we must get the bone position from action and constraints for(i=0, ikchan=ikscene->channels; i<ikscene->numchan; i++, ++ikchan) { if (!(ikchan->pchan->flag & POSE_DONE)) @@ -1589,7 +1599,8 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl // the cache is empty before this time, reiterate if (ikparam->flag & ITASC_INITIAL_REITERATION) reiterate = true; - } else { + } + else { // can take the cache as a start point. sts -= cts; timestep = sts/1000.0; @@ -1780,7 +1791,8 @@ void itasc_update_param(struct bPose *pose) ikscene->scene->setParam(iTaSC::Scene::MAX_TIMESTEP, ikparam->maxstep); ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, ikparam->maxvel); ikscene->armature->setControlParameter(CONSTRAINT_ID_ALL, iTaSC::Armature::ID_JOINT, iTaSC::ACT_FEEDBACK, ikparam->feedback); - } else { + } + else { // in animation mode timestep is 1s by convention => // qmax becomes radiant and feedback becomes fraction of error gap corrected in one iteration ikscene->scene->setParam(iTaSC::Scene::MIN_TIMESTEP, 1.0); |