diff options
Diffstat (limited to 'source/blender/ikplugin/intern/itasc_plugin.cpp')
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 53 |
1 files changed, 26 insertions, 27 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 42a3aace775..5385366f075 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -890,33 +890,32 @@ static int convert_channels(IK_Scene *ikscene, PoseTree *tree) flag |= IK_TRANSY; } /* - Logic to create the segments: - RX,RY,RZ = rotational joints with no length - RY(tip) = rotational joints with a fixed length arm = (0,length,0) - TY = translational joint on Y axis - F(pos) = fixed joint with an arm at position pos - Conversion rule of the above flags: - - ==> F(tip) - X ==> RX(tip) - Y ==> RY(tip) - Z ==> RZ(tip) - XY ==> RX+RY(tip) - XZ ==> RX+RZ(tip) - YZ ==> RZ+RY(tip) - XYZ ==> full spherical unless there are limits, in which case RX+RZ+RY(tip) - In case of stretch, tip=(0,0,0) and there is an additional TY joint - The frame at last of these joints represents the tail of the bone. - The head is computed by a reverse translation on Y axis of the bone length - or in case of TY joint, by the frame at previous joint. - In case of separation of bones, there is an additional F(head) joint - - Computing rest pose and length is complicated: the solver works in world space - Here is the logic: - rest position is computed only from bone->bone_mat. - bone length is computed from bone->length multiplied by the scaling factor of - the armature. Non-uniform scaling will give bad result! - - */ + * Logic to create the segments: + * RX,RY,RZ = rotational joints with no length + * RY(tip) = rotational joints with a fixed length arm = (0,length,0) + * TY = translational joint on Y axis + * F(pos) = fixed joint with an arm at position pos + * Conversion rule of the above flags: + * - ==> F(tip) + * X ==> RX(tip) + * Y ==> RY(tip) + * Z ==> RZ(tip) + * XY ==> RX+RY(tip) + * XZ ==> RX+RZ(tip) + * YZ ==> RZ+RY(tip) + * XYZ ==> full spherical unless there are limits, in which case RX+RZ+RY(tip) + * In case of stretch, tip=(0,0,0) and there is an additional TY joint + * The frame at last of these joints represents the tail of the bone. + * The head is computed by a reverse translation on Y axis of the bone length + * or in case of TY joint, by the frame at previous joint. + * In case of separation of bones, there is an additional F(head) joint + * + * Computing rest pose and length is complicated: the solver works in world space + * Here is the logic: + * rest position is computed only from bone->bone_mat. + * bone length is computed from bone->length multiplied by the scaling factor of + * the armature. Non-uniform scaling will give bad result! + */ switch (flag & (IK_XDOF|IK_YDOF|IK_ZDOF)) { default: |