From b92d78553b1889ff5bfbea17b35cf8fda586a062 Mon Sep 17 00:00:00 2001 From: Brecht Van Lommel Date: Thu, 12 Apr 2018 15:59:51 +0200 Subject: Cleanup: don't use Blender structs in iTaSC module. --- source/blender/ikplugin/intern/itasc_plugin.cpp | 24 +++++++++++++++--------- 1 file changed, 15 insertions(+), 9 deletions(-) (limited to 'source/blender/ikplugin/intern/itasc_plugin.cpp') diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index 93460559067..c74cbb252ff 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -90,6 +90,7 @@ typedef void (*ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned in // one structure for each target in the scene struct IK_Target { + const struct EvaluationContext *eval_ctx; struct Scene *blscene; iTaSC::MovingFrame* target; iTaSC::ConstraintSet* constraint; @@ -107,6 +108,7 @@ struct IK_Target { float eeRest[4][4]; //end effector initial pose relative to armature IK_Target() { + eval_ctx = NULL; blscene = NULL; target = NULL; constraint = NULL; @@ -157,6 +159,7 @@ struct IK_Channel { }; struct IK_Scene { + const struct EvaluationContext *eval_ctx; struct Scene *blscene; IK_Scene* next; int numchan; // number of channel in pchan @@ -177,6 +180,7 @@ struct IK_Scene { std::vector targets; IK_Scene() { + eval_ctx = NULL; blscene = NULL; next = NULL; channels = NULL; @@ -542,7 +546,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot) } } -static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) +static bool target_callback(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 +554,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS bConstraint *constraint = (bConstraint *)target->blenderConstraint; float tarmat[4][4]; - BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0); + BKE_constraint_target_matrix_get(target->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 +581,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS return true; } -static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) +static bool base_callback(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 +623,7 @@ static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC: IK_Channel &rootchan = ikscene->channels[0]; // get polar target matrix in world space - BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); + BKE_constraint_target_matrix_get(ikscene->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) @@ -1082,6 +1086,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b ikscene = new IK_Scene; ikscene->blscene = blscene; + ikscene->eval_ctx = eval_ctx; arm = new iTaSC::Armature(); scene = new iTaSC::Scene(); ikscene->channels = new IK_Channel[tree->totchannel]; @@ -1397,7 +1402,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b // 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(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene); + base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene); ikscene->base = new iTaSC::MovingFrame(initPose); ikscene->base->setCallback(base_callback, ikscene); std::string armname; @@ -1439,6 +1444,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b for (t = 0; t < ikscene->targets.size(); t++) { IK_Target *iktarget = ikscene->targets[t]; iktarget->blscene = blscene; + iktarget->eval_ctx = eval_ctx; condata = (bKinematicConstraint *)iktarget->blenderConstraint->data; pchan = tree->pchan[iktarget->channel]; unsigned int controltype, bonecnt; @@ -1458,7 +1464,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b 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(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget); + target_callback(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); @@ -1647,7 +1653,7 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce } } // don't cache if we are reiterating because we don't want to destroy the cache unnecessarily - ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation); + ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation); if (reiterate) { // how many times do we reiterate? for (i = 0; i < ikparam->numiter; i++) { @@ -1656,11 +1662,11 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce { break; } - ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation); + ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation); } if (simulation) { // one more fake iteration to cache - ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true); + ikscene->scene->update(timestamp, 0.0, 1, true, true, true); } } // compute constraint error -- cgit v1.2.3