diff options
Diffstat (limited to 'source/blender/ikplugin/intern/itasc_plugin.cpp')
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 74 |
1 files changed, 37 insertions, 37 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 3dcb9e462b9..05de0a0775b 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -46,7 +46,7 @@ extern "C" { #include "BIK_api.h" #include "BLI_blenlib.h" -#include "BLI_arithb.h" +#include "BLI_math.h" #include "BKE_global.h" #include "BKE_armature.h" @@ -550,15 +550,15 @@ static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Fram if (pchan->parent) { pchan = pchan->parent; float chanmat[4][4]; - Mat4CpyMat4(chanmat, pchan->pose_mat); + copy_m4_m4(chanmat, pchan->pose_mat); VECCOPY(chanmat[3], pchan->pose_tail); - Mat4MulSerie(restmat, target->owner->obmat, chanmat, target->eeRest, NULL, NULL, NULL, NULL, NULL); + mul_serie_m4(restmat, target->owner->obmat, chanmat, target->eeRest, NULL, NULL, NULL, NULL, NULL); } else { - Mat4MulMat4(restmat, target->eeRest, target->owner->obmat); + mul_m4_m4m4(restmat, target->eeRest, target->owner->obmat); } // blend the target - Mat4BlendMat4(tarmat, restmat, tarmat, constraint->enforce); + blend_m4_m4m4(tarmat, restmat, tarmat, constraint->enforce); } next.setValue(&tarmat[0][0]); return true; @@ -577,15 +577,15 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& if (pchan->parent) { pchan = pchan->parent; float chanmat[4][4]; - Mat4CpyMat4(chanmat, pchan->pose_mat); + copy_m4_m4(chanmat, pchan->pose_mat); VECCOPY(chanmat[3], pchan->pose_tail); // save the base as a frame too so that we can compute deformation // after simulation ikscene->baseFrame.setValue(&chanmat[0][0]); - Mat4MulMat4(rootmat, chanmat, ikscene->blArmature->obmat); + mul_m4_m4m4(rootmat, chanmat, ikscene->blArmature->obmat); } else { - Mat4CpyMat4(rootmat, ikscene->blArmature->obmat); + copy_m4_m4(rootmat, ikscene->blArmature->obmat); ikscene->baseFrame = iTaSC::F_identity; } next.setValue(&rootmat[0][0]); @@ -598,7 +598,7 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& float mat[4][4]; // temp matrix bKinematicConstraint* poledata = (bKinematicConstraint*)ikscene->polarConstraint->data; - Mat4Invert(imat, rootmat); + invert_m4_m4(imat, rootmat); // polar constraint imply only one target IK_Target *iktarget = ikscene->targets[0]; // root channel from which we take the bone initial orientation @@ -607,11 +607,11 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& // get polar target matrix in world space get_constraint_target_matrix(ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); // convert to armature space - Mat4MulMat4(polemat, mat, imat); + mul_m4_m4m4(polemat, mat, imat); // get the target in world space (was computed before as target object are defined before base object) iktarget->target->getPose().getValue(mat[0]); // convert to armature space - Mat4MulMat4(goalmat, mat, imat); + mul_m4_m4m4(goalmat, mat, imat); // take position of target, polar target, end effector, in armature space KDL::Vector goalpos(goalmat[3]); KDL::Vector polepos(polemat[3]); @@ -787,16 +787,16 @@ static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintV if (chan->rotmode > 0) { /* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */ - EulOToMat3(chan->eul, chan->rotmode, rmat); + eulO_to_mat3( rmat,chan->eul, chan->rotmode); } else if (chan->rotmode == ROT_MODE_AXISANGLE) { /* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */ - AxisAngleToMat3(&chan->quat[1], chan->quat[0], rmat); + axis_angle_to_mat3( rmat,&chan->quat[1], chan->quat[0]); } else { /* quats are normalised before use to eliminate scaling issues */ - NormalQuat(chan->quat); - QuatToMat3(chan->quat, rmat); + normalize_qt(chan->quat); + quat_to_mat3( rmat,chan->quat); } KDL::Rotation jointRot( rmat[0][0], rmat[1][0], rmat[2][0], @@ -977,26 +977,26 @@ static void convert_pose(IK_Scene *ikscene) int a, joint; // assume uniform scaling and take Y scale as general scale for the armature - scale = VecLength(ikscene->blArmature->obmat[1]); + scale = len_v3(ikscene->blArmature->obmat[1]); rot = &ikscene->jointArray(0); for(joint=a=0, ikchan = ikscene->channels; a<ikscene->numchan && joint<ikscene->numjoint; ++a, ++ikchan) { pchan= ikchan->pchan; bone= pchan->bone; if (pchan->parent) { - Mat4One(bmat); - Mat4MulMat43(bmat, pchan->parent->pose_mat, bone->bone_mat); + unit_m4(bmat); + mul_m4_m4m3(bmat, pchan->parent->pose_mat, bone->bone_mat); } else { - Mat4CpyMat4(bmat, bone->arm_mat); + copy_m4_m4(bmat, bone->arm_mat); } - Mat4Invert(rmat, bmat); - Mat4MulMat4(bmat, pchan->pose_mat, rmat); - Mat4Ortho(bmat); + invert_m4_m4(rmat, bmat); + mul_m4_m4m4(bmat, pchan->pose_mat, rmat); + normalize_m4(bmat); boneRot.setValue(bmat[0]); GetJointRotation(boneRot, ikchan->jointType, rot); if (ikchan->jointType & IK_TRANSY) { // compute actual length - rot[ikchan->ndof-1] = VecLenf(pchan->pose_tail, pchan->pose_head) * scale; + rot[ikchan->ndof-1] = len_v3v3(pchan->pose_tail, pchan->pose_head) * scale; } rot += ikchan->ndof; joint += ikchan->ndof; @@ -1014,7 +1014,7 @@ static void rest_pose(IK_Scene *ikscene) int a, joint; // assume uniform scaling and take Y scale as general scale for the armature - scale = VecLength(ikscene->blArmature->obmat[1]); + scale = len_v3(ikscene->blArmature->obmat[1]); // rest pose is 0 KDL::SetToZero(ikscene->jointArray); // except for transY joints @@ -1103,7 +1103,7 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) std::vector<double> weights; double weight[3]; // assume uniform scaling and take Y scale as general scale for the armature - float scale = VecLength(ob->obmat[1]); + float scale = len_v3(ob->obmat[1]); // build the array of joints corresponding to the IK chain convert_channels(ikscene, tree); if (ingame) { @@ -1379,12 +1379,12 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) // it has a parent, get the pose matrix from it float baseFrame[4][4]; pchan = pchan->parent; - Mat4CpyMat4(baseFrame, pchan->bone->arm_mat); + copy_m4_m4(baseFrame, pchan->bone->arm_mat); // move to the tail and scale to get rest pose of armature base - VecCopyf(baseFrame[3], pchan->bone->arm_tail); - Mat4Invert(invBaseFrame, baseFrame); + copy_v3_v3(baseFrame[3], pchan->bone->arm_tail); + invert_m4_m4(invBaseFrame, baseFrame); } else { - Mat4One(invBaseFrame); + unit_m4(invBaseFrame); } // finally add the constraint for (t=0; t<ikscene->targets.size(); t++) { @@ -1403,10 +1403,10 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) bonelen /= bonecnt; // store the rest pose of the end effector to compute enforce target - Mat4CpyMat4(mat, pchan->bone->arm_mat); - VecCopyf(mat[3], pchan->bone->arm_tail); + copy_m4_m4(mat, pchan->bone->arm_mat); + copy_v3_v3(mat[3], pchan->bone->arm_tail); // get the rest pose relative to the armature base - Mat4MulMat4(iktarget->eeRest, mat, invBaseFrame); + mul_m4_m4m4(iktarget->eeRest, mat, invBaseFrame); iktarget->eeBlend = (!ikscene->polarConstraint && condata->type==CONSTRAINT_IK_COPYPOSE) ? true : false; // use target_callback to make sure the initPose includes enforce coefficient target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget); @@ -1660,13 +1660,13 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl VECCOPY(pchan->pose_tail, pchan->pose_mat[3]); // shift to head VECCOPY(yaxis, pchan->pose_mat[1]); - VecMulf(yaxis, length); - VecSubf(pchan->pose_mat[3], pchan->pose_mat[3], yaxis); + mul_v3_fl(yaxis, length); + sub_v3_v3v3(pchan->pose_mat[3], pchan->pose_mat[3], yaxis); VECCOPY(pchan->pose_head, pchan->pose_mat[3]); // add scale - VecMulf(pchan->pose_mat[0], scale); - VecMulf(pchan->pose_mat[1], scale); - VecMulf(pchan->pose_mat[2], scale); + mul_v3_fl(pchan->pose_mat[0], scale); + mul_v3_fl(pchan->pose_mat[1], scale); + mul_v3_fl(pchan->pose_mat[2], scale); } if (i<ikscene->numchan) { // big problem |