diff options
Diffstat (limited to 'source/blender/ikplugin')
| -rw-r--r-- | source/blender/ikplugin/BIK_api.h | 5 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/ikplugin_api.c | 8 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/ikplugin_api.h | 5 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/iksolver_plugin.c | 64 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/iksolver_plugin.h | 7 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 42 | ||||
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.h | 4 |
7 files changed, 69 insertions, 66 deletions
diff --git a/source/blender/ikplugin/BIK_api.h b/source/blender/ikplugin/BIK_api.h index 177be074897..ad842029941 100644 --- a/source/blender/ikplugin/BIK_api.h +++ b/source/blender/ikplugin/BIK_api.h @@ -43,6 +43,7 @@ struct bPoseChannel; struct bPose; struct Scene; struct bConstraint; +struct EvaluationContext; enum BIK_ParamType { BIK_PARAM_TYPE_FLOAT = 0, @@ -61,8 +62,8 @@ struct BIK_ParamValue { }; typedef struct BIK_ParamValue BIK_ParamValue; -void BIK_initialize_tree(struct Scene *scene, struct Object *ob, float ctime); -void BIK_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime); +void BIK_initialize_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, float ctime); +void BIK_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime); void BIK_release_tree(struct Scene *scene, struct Object *ob, float ctime); void BIK_clear_data(struct bPose *pose); void BIK_clear_cache(struct bPose *pose); diff --git a/source/blender/ikplugin/intern/ikplugin_api.c b/source/blender/ikplugin/intern/ikplugin_api.c index 0f81fb34a63..0ee26ff45f1 100644 --- a/source/blender/ikplugin/intern/ikplugin_api.c +++ b/source/blender/ikplugin/intern/ikplugin_api.c @@ -89,20 +89,20 @@ static IKPlugin *get_plugin(bPose *pose) /*----------------------------------------*/ /* Plugin API */ -void BIK_initialize_tree(Scene *scene, Object *ob, float ctime) +void BIK_initialize_tree(const struct EvaluationContext *eval_ctx, Scene *scene, Object *ob, float ctime) { IKPlugin *plugin = get_plugin(ob->pose); if (plugin && plugin->initialize_tree_func) - plugin->initialize_tree_func(scene, ob, ctime); + plugin->initialize_tree_func(eval_ctx, scene, ob, ctime); } -void BIK_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan, float ctime) +void BIK_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, bPoseChannel *pchan, float ctime) { IKPlugin *plugin = get_plugin(ob->pose); if (plugin && plugin->execute_tree_func) - plugin->execute_tree_func(scene, ob, pchan, ctime); + plugin->execute_tree_func(eval_ctx, scene, ob, pchan, ctime); } void BIK_release_tree(struct Scene *scene, Object *ob, float ctime) diff --git a/source/blender/ikplugin/intern/ikplugin_api.h b/source/blender/ikplugin/intern/ikplugin_api.h index cd32bf26242..9a71463ede4 100644 --- a/source/blender/ikplugin/intern/ikplugin_api.h +++ b/source/blender/ikplugin/intern/ikplugin_api.h @@ -41,11 +41,12 @@ extern "C" { struct Object; struct bPoseChannel; struct Scene; +struct EvaluationContext; struct IKPlugin { - void (*initialize_tree_func)(struct Scene *scene, struct Object *ob, float ctime); - void (*execute_tree_func)(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime); + void (*initialize_tree_func)(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, float ctime); + void (*execute_tree_func)(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime); void (*release_tree_func)(struct Scene *scene, struct Object *ob, float ctime); void (*remove_armature_func)(struct bPose *pose); void (*clear_cache)(struct bPose *pose); diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c index 6ea311b2c7b..5169b72590c 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.c +++ b/source/blender/ikplugin/intern/iksolver_plugin.c @@ -217,9 +217,27 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[3][3]) // nr = copy_m4_m3(ikmat, ik_mat); if (pchan->parent) - mul_m4_series(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat); + mul_m4_m4m4(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat); else - mul_m4_m4m4(pchan->pose_mat, pchan->chan_mat, ikmat); + copy_m4_m4(pchan->pose_mat, pchan->chan_mat); + +#ifdef USE_NONUNIFORM_SCALE + /* apply IK mat, but as if the bones have uniform scale since the IK solver + * is not aware of non-uniform scale */ + float scale[3]; + mat4_to_size(scale, pchan->pose_mat); + normalize_v3_length(pchan->pose_mat[0], scale[1]); + normalize_v3_length(pchan->pose_mat[2], scale[1]); +#endif + + mul_m4_m4m4(pchan->pose_mat, pchan->pose_mat, ikmat); + +#ifdef USE_NONUNIFORM_SCALE + float ik_scale[3]; + mat3_to_size(ik_scale, ik_mat); + normalize_v3_length(pchan->pose_mat[0], scale[0] * ik_scale[0]); + normalize_v3_length(pchan->pose_mat[2], scale[2] * ik_scale[2]); +#endif /* calculate head */ copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]); @@ -234,7 +252,7 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[3][3]) // nr = /* called from within the core BKE_pose_where_is loop, all animsystems and constraints * were executed & assigned. Now as last we do an IK pass */ -static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) +static void execute_posetree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, PoseTree *tree) { float R_parmat[3][3], identity[3][3]; float iR_parmat[3][3]; @@ -308,6 +326,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* change length based on bone size */ length = bone->length * len_v3(R_bonemat[1]); + /* basis must be pure rotation */ + normalize_m3(R_bonemat); + normalize_m3(R_parmat); + /* compute rest basis and its inverse */ copy_m3_m3(rest_basis, bone->bone_mat); transpose_m3_m3(irest_basis, bone->bone_mat); @@ -317,11 +339,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) mul_m3_m3m3(full_basis, iR_parmat, R_bonemat); mul_m3_m3m3(basis, irest_basis, full_basis); - /* basis must be pure rotation */ - normalize_m3(basis); - /* transform offset into local bone space */ - normalize_m3(iR_parmat); mul_m3_v3(iR_parmat, start); IK_SetTransform(seg, start, rest_basis, basis, length); @@ -376,7 +394,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though * strictly speaking, it is a posechannel) */ - BKE_constraint_target_matrix_get(scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); + BKE_constraint_target_matrix_get(eval_ctx, scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); /* and set and transform goal */ mul_m4_m4m4(goal, goalinv, rootmat); @@ -387,7 +405,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* same for pole vector target */ if (data->poletar) { - BKE_constraint_target_matrix_get(scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); + BKE_constraint_target_matrix_get(eval_ctx, scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0); if (data->flag & CONSTRAINT_IK_SETANGLE) { /* don't solve IK when we are setting the pole angle */ @@ -516,7 +534,7 @@ static void free_posetree(PoseTree *tree) ///---------------------------------------- /// Plugin API for legacy iksolver -void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, float UNUSED(ctime)) +void iksolver_initialize_tree(const struct EvaluationContext *UNUSED(eval_ctx), struct Scene *UNUSED(scene), struct Object *ob, float UNUSED(ctime)) { bPoseChannel *pchan; @@ -527,7 +545,7 @@ void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, fl ob->pose->flag &= ~POSE_WAS_REBUILT; } -void iksolver_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime) +void iksolver_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime) { while (pchan_root->iktree.first) { PoseTree *tree = pchan_root->iktree.first; @@ -540,25 +558,13 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan /* 4. walk over the tree for regular solving */ for (a = 0; a < tree->totchannel; a++) { if (!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag - BKE_pose_where_is_bone(scene, ob, tree->pchan[a], ctime, 1); + BKE_pose_where_is_bone(eval_ctx, scene, ob, tree->pchan[a], ctime, 1); /* tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() */ tree->pchan[a]->flag |= POSE_CHAIN; } -#ifdef USE_NONUNIFORM_SCALE - float (*pchan_scale_data)[3] = MEM_mallocN(sizeof(float[3]) * tree->totchannel, __func__); - - for (a = 0; a < tree->totchannel; a++) { - mat4_to_size(pchan_scale_data[a], tree->pchan[a]->pose_mat); - - /* make uniform at y scale since this controls the length */ - normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][1]); - normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][1]); - } -#endif - /* 5. execute the IK solver */ - execute_posetree(scene, ob, tree); + execute_posetree(eval_ctx, scene, ob, tree); /* 6. apply the differences to the channels, * we need to calculate the original differences first */ @@ -571,14 +577,6 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan where_is_ik_bone(tree->pchan[a], tree->basis_change[a]); } -#ifdef USE_NONUNIFORM_SCALE - for (a = 0; a < tree->totchannel; a++) { - normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][0]); - normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][2]); - } - MEM_freeN(pchan_scale_data); -#endif - /* 7. and free */ BLI_remlink(&pchan_root->iktree, tree); free_posetree(tree); diff --git a/source/blender/ikplugin/intern/iksolver_plugin.h b/source/blender/ikplugin/intern/iksolver_plugin.h index 07264280a25..f1ca91ebb49 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.h +++ b/source/blender/ikplugin/intern/iksolver_plugin.h @@ -40,8 +40,11 @@ extern "C" { #endif -void iksolver_initialize_tree(struct Scene *scene, struct Object *ob, float ctime); -void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan_root, float ctime); +void iksolver_initialize_tree( + const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, float ctime); +void iksolver_execute_tree( + const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, + struct bPoseChannel *pchan_root, float ctime); #ifdef __cplusplus } diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index d58340965a7..93460559067 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -542,7 +542,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot) } } -static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) +static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) { IK_Target *target = (IK_Target *)param; // compute next target position @@ -550,7 +550,7 @@ static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Fram bConstraint *constraint = (bConstraint *)target->blenderConstraint; float tarmat[4][4]; - BKE_constraint_target_matrix_get(target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0); + BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0); // rootmat contains the target pose in world coordinate // if enforce is != 1.0, blend the target position with the end effector position @@ -577,7 +577,7 @@ static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Fram return true; } -static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) +static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) { IK_Scene *ikscene = (IK_Scene *)param; // compute next armature base pose @@ -619,7 +619,7 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& IK_Channel &rootchan = ikscene->channels[0]; // get polar target matrix in world space - BKE_constraint_target_matrix_get(ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); + BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); // convert to armature space mul_m4_m4m4(polemat, imat, mat); // get the target in world space (was computed before as target object are defined before base object) @@ -863,7 +863,7 @@ static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintV } // build array of joint corresponding to IK chain -static int convert_channels(IK_Scene *ikscene, PoseTree *tree, float ctime) +static int convert_channels(const struct EvaluationContext *eval_ctx, IK_Scene *ikscene, PoseTree *tree, float ctime) { IK_Channel *ikchan; bPoseChannel *pchan; @@ -880,7 +880,7 @@ static int convert_channels(IK_Scene *ikscene, PoseTree *tree, float ctime) // this is because some of the pose data (e.g. pose head) don't have corresponding // joint angles and can't be applied to the iTaSC armature dynamically if (!(pchan->flag & POSE_DONE)) - BKE_pose_where_is_bone(ikscene->blscene, ikscene->blArmature, pchan, ctime, 1); + BKE_pose_where_is_bone(eval_ctx, ikscene->blscene, ikscene->blArmature, pchan, ctime, 1); // tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() pchan->flag |= (POSE_DONE | POSE_CHAIN); @@ -1056,7 +1056,7 @@ static void BKE_pose_rest(IK_Scene *ikscene) } } -static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, float ctime) +static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *blscene, Object *ob, bPoseChannel *pchan, float ctime) { PoseTree *tree = (PoseTree *)pchan->iktree.first; PoseTarget *target; @@ -1134,7 +1134,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, f std::vector<double> weights; double weight[3]; // build the array of joints corresponding to the IK chain - convert_channels(ikscene, tree, ctime); + convert_channels(eval_ctx, ikscene, tree, ctime); if (ingame) { // in the GE, set the initial joint angle to match the current pose // this will update the jointArray in ikscene @@ -1397,7 +1397,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, f // we can now add the armature // the armature is based on a moving frame. // initialize with the correct position in case there is no cache - base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene); + base_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene); ikscene->base = new iTaSC::MovingFrame(initPose); ikscene->base->setCallback(base_callback, ikscene); std::string armname; @@ -1458,7 +1458,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, f mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat); 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); + target_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget); iktarget->target = new iTaSC::MovingFrame(initPose); iktarget->target->setCallback(target_callback, iktarget); ret = scene->addObject(iktarget->targetName, iktarget->target); @@ -1526,7 +1526,7 @@ static IK_Scene *convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan, f return ikscene; } -static void create_scene(Scene *scene, Object *ob, float ctime) +static void create_scene(const struct EvaluationContext *eval_ctx, Scene *scene, Object *ob, float ctime) { bPoseChannel *pchan; @@ -1537,7 +1537,7 @@ static void create_scene(Scene *scene, Object *ob, float ctime) if (tree) { IK_Data *ikdata = get_ikdata(ob->pose); // convert tree in iTaSC::Scene - IK_Scene *ikscene = convert_tree(scene, ob, pchan, ctime); + IK_Scene *ikscene = convert_tree(eval_ctx, scene, ob, pchan, ctime); if (ikscene) { ikscene->next = ikdata->first; ikdata->first = ikscene; @@ -1576,7 +1576,7 @@ static int init_scene(Object *ob) return 0; } -static void execute_scene(Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, float ctime, float frtime) +static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, float ctime, float frtime) { int i; IK_Channel *ikchan; @@ -1592,7 +1592,7 @@ static void execute_scene(Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, fl // 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)) - BKE_pose_where_is_bone(blscene, ikscene->blArmature, ikchan->pchan, ctime, 1); + BKE_pose_where_is_bone(eval_ctx, blscene, ikscene->blArmature, ikchan->pchan, ctime, 1); // tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() ikchan->pchan->flag |= (POSE_DONE | POSE_CHAIN); ikchan->jointValid = 0; @@ -1647,7 +1647,7 @@ static void execute_scene(Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, fl } } // don't cache if we are reiterating because we don't want to destroy the cache unnecessarily - ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation); + ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation); if (reiterate) { // how many times do we reiterate? for (i = 0; i < ikparam->numiter; i++) { @@ -1656,11 +1656,11 @@ static void execute_scene(Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, fl { break; } - ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation); + ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation); } if (simulation) { // one more fake iteration to cache - ikscene->scene->update(timestamp, 0.0, 1, true, true, true); + ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true); } } // compute constraint error @@ -1744,7 +1744,7 @@ static void execute_scene(Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, fl //--------------------------------------------------- // plugin interface // -void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime) +void itasc_initialize_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, float ctime) { bPoseChannel *pchan; int count = 0; @@ -1764,13 +1764,13 @@ void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime) // if at least one tree, create the scenes from the PoseTree stored in the channels // postpone until execute_tree: this way the pose constraint are included if (count) - create_scene(scene, ob, ctime); + create_scene(eval_ctx, scene, ob, ctime); itasc_update_param(ob->pose); // make sure we don't rebuilt until the user changes something important ob->pose->flag &= ~POSE_WAS_REBUILT; } -void itasc_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime) +void itasc_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime) { if (ob->pose->ikdata) { IK_Data *ikdata = (IK_Data *)ob->pose->ikdata; @@ -1787,7 +1787,7 @@ void itasc_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan_ro if (timestep > 0.2f) timestep = 0.2f; } - execute_scene(scene, ikscene, ikparam, ctime, timestep); + execute_scene(eval_ctx, scene, ikscene, ikparam, ctime, timestep); break; } } diff --git a/source/blender/ikplugin/intern/itasc_plugin.h b/source/blender/ikplugin/intern/itasc_plugin.h index bcd95bc31ca..2f4e4036d76 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.h +++ b/source/blender/ikplugin/intern/itasc_plugin.h @@ -40,8 +40,8 @@ extern "C" { #endif -void itasc_initialize_tree(struct Scene *scene, struct Object *ob, float ctime); -void itasc_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan_root, float ctime); +void itasc_initialize_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, float ctime); +void itasc_execute_tree(const struct EvaluationContext *eval_ctx, struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan_root, float ctime); void itasc_release_tree(struct Scene *scene, struct Object *ob, float ctime); void itasc_clear_data(struct bPose *pose); void itasc_clear_cache(struct bPose *pose); 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