diff options
Diffstat (limited to 'source/blender/ikplugin')
| -rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 39 |
1 files changed, 28 insertions, 11 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 3be096b8935..ebbb201de8e 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -176,6 +176,8 @@ struct IK_Scene KDL::JntArray jointArray; // buffer for storing temporary joint array iTaSC::Solver* solver; Object* blArmature; + float blScale; // scale of the Armature object (assume uniform scaling) + float blInvScale; // inverse of Armature object scale struct bConstraint* polarConstraint; std::vector<IK_Target*> targets; @@ -188,6 +190,7 @@ struct IK_Scene scene = NULL; base = NULL; solver = NULL; + blScale = blInvScale = 1.0f; blArmature = NULL; numchan = 0; numjoint = 0; @@ -594,9 +597,10 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& float chanmat[4][4]; copy_m4_m4(chanmat, pchan->pose_mat); copy_v3_v3(chanmat[3], pchan->pose_tail); - // save the base as a frame too so that we can compute deformation - // after simulation + // save the base as a frame too so that we can compute deformation after simulation ikscene->baseFrame.setValue(&chanmat[0][0]); + // iTaSC armature is scaled to object scale, scale the base frame too + ikscene->baseFrame.p *= ikscene->blScale; mult_m4_m4m4(rootmat, ikscene->blArmature->obmat, chanmat); } else { @@ -1116,14 +1120,15 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) return NULL; } ikscene->blArmature = ob; + // assume uniform scaling and take Y scale as general scale for the armature + ikscene->blScale = len_v3(ob->obmat[1]); + ikscene->blInvScale = (ikscene->blScale < KDL::epsilon) ? 0.0f : 1.0f/ikscene->blScale; std::string joint; std::string root("root"); std::string parent; std::vector<double> weights; double weight[3]; - // assume uniform scaling and take Y scale as general scale for the armature - float scale = len_v3(ob->obmat[1]); // build the array of joints corresponding to the IK chain convert_channels(ikscene, tree); if (ingame) { @@ -1147,11 +1152,11 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) fl[0][1], fl[1][1], fl[2][1], fl[0][2], fl[1][2], fl[2][2]); KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]); - bpos = bpos*scale; + bpos *= ikscene->blScale; KDL::Frame head(brot, bpos); // rest pose length of the bone taking scaling into account - length= bone->length*scale; + length= bone->length*ikscene->blScale; parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root; // first the fixed segment to the bone head if (head.p.Norm() > KDL::epsilon || head.M.GetRot().Norm() > KDL::epsilon) { @@ -1420,7 +1425,7 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan) // add the end effector // estimate the average bone length, used to clamp feedback error for (bonecnt=0, bonelen=0.f, a=iktarget->channel; a>=0; a=tree->parent[a], bonecnt++) - bonelen += scale*tree->pchan[a]->bone->length; + bonelen += ikscene->blScale*tree->pchan[a]->bone->length; bonelen /= bonecnt; // store the rest pose of the end effector to compute enforce target @@ -1527,15 +1532,23 @@ static void create_scene(Scene *scene, Object *ob) } } -static void init_scene(Object *ob) +/* returns 1 if scaling has changed and tree must be reinitialized */ +static int init_scene(Object *ob) { + // check also if scaling has changed + float scale = len_v3(ob->obmat[1]); + IK_Scene* scene; + if (ob->pose->ikdata) { - for (IK_Scene* scene = ((IK_Data*)ob->pose->ikdata)->first; + for (scene = ((IK_Data*)ob->pose->ikdata)->first; scene != NULL; scene = scene->next) { + if (fabs(scene->blScale - scale) > KDL::epsilon) + return 1; scene->channels[0].pchan->flag |= POSE_IKTREE; } } + return 0; } static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, float ctime, float frtime) @@ -1682,6 +1695,10 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl pchan = ikchan->pchan; // tail mat ikchan->frame.getValue(&pchan->pose_mat[0][0]); + // the scale of the object was included in the ik scene, take it out now + // because the pose channels are relative to the object + mul_v3_fl(pchan->pose_mat[3], ikscene->blInvScale); + length *= ikscene->blInvScale; copy_v3_v3(pchan->pose_tail, pchan->pose_mat[3]); // shift to head copy_v3_v3(yaxis, pchan->pose_mat[1]); @@ -1708,8 +1725,8 @@ void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime) int count = 0; if (ob->pose->ikdata != NULL && !(ob->pose->flag & POSE_WAS_REBUILT)) { - init_scene(ob); - return; + if (!init_scene(ob)) + return; } // first remove old scene itasc_clear_data(ob->pose); |