From 57c292daf0429624e289eba0c1d082d96747c9b8 Mon Sep 17 00:00:00 2001 From: Campbell Barton Date: Fri, 25 May 2012 09:51:53 +0000 Subject: style cleanup --- source/blender/ikplugin/intern/iksolver_plugin.c | 214 +++++++++++------------ 1 file changed, 107 insertions(+), 107 deletions(-) (limited to 'source/blender/ikplugin') diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c index c726102247a..b9980b1401d 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.c +++ b/source/blender/ikplugin/intern/iksolver_plugin.c @@ -57,47 +57,47 @@ /* Note: detecting the IK chain is duplicate code... in drawarmature.c and in transform_conversions.c */ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_tip) { - bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256], **oldchan; + bPoseChannel *curchan, *pchan_root = NULL, *chanlist[256], **oldchan; PoseTree *tree; PoseTarget *target; bConstraint *con; bKinematicConstraint *data; - int a, t, segcount= 0, size, newsize, *oldparent, parent; + int a, t, segcount = 0, size, newsize, *oldparent, parent; /* find IK constraint, and validate it */ - for (con= pchan_tip->constraints.first; con; con= con->next) { - if (con->type==CONSTRAINT_TYPE_KINEMATIC) { - data=(bKinematicConstraint*)con->data; + for (con = pchan_tip->constraints.first; con; con = con->next) { + if (con->type == CONSTRAINT_TYPE_KINEMATIC) { + data = (bKinematicConstraint *)con->data; if (data->flag & CONSTRAINT_IK_AUTO) break; - if (data->tar==NULL) continue; - if (data->tar->type==OB_ARMATURE && data->subtarget[0]==0) continue; - if ((con->flag & (CONSTRAINT_DISABLE|CONSTRAINT_OFF))==0 && (con->enforce != 0.0f)) break; + if (data->tar == NULL) continue; + if (data->tar->type == OB_ARMATURE && data->subtarget[0] == 0) continue; + if ((con->flag & (CONSTRAINT_DISABLE | CONSTRAINT_OFF)) == 0 && (con->enforce != 0.0f)) break; } } - if (con==NULL) return; + if (con == NULL) return; /* exclude tip from chain? */ if (!(data->flag & CONSTRAINT_IK_TIP)) - pchan_tip= pchan_tip->parent; + pchan_tip = pchan_tip->parent; /* Find the chain's root & count the segments needed */ - for (curchan = pchan_tip; curchan; curchan=curchan->parent) { + for (curchan = pchan_tip; curchan; curchan = curchan->parent) { pchan_root = curchan; - curchan->flag |= POSE_CHAIN; // don't forget to clear this - chanlist[segcount]=curchan; + curchan->flag |= POSE_CHAIN; // don't forget to clear this + chanlist[segcount] = curchan; segcount++; - if (segcount==data->rootbone || segcount>255) break; // 255 is weak + if (segcount == data->rootbone || segcount > 255) break; // 255 is weak } if (!segcount) return; /* setup the chain data */ /* we make tree-IK, unless all existing targets are in this chain */ - for (tree= pchan_root->iktree.first; tree; tree= tree->next) { - for (target= tree->targets.first; target; target= target->next) { - curchan= tree->pchan[target->tip]; + for (tree = pchan_root->iktree.first; tree; tree = tree->next) { + for (target = tree->targets.first; target; target = target->next) { + curchan = tree->pchan[target->tip]; if (curchan->flag & POSE_CHAIN) curchan->flag &= ~POSE_CHAIN; else @@ -107,52 +107,52 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t } /* create a target */ - target= MEM_callocN(sizeof(PoseTarget), "posetarget"); - target->con= con; + target = MEM_callocN(sizeof(PoseTarget), "posetarget"); + target->con = con; pchan_tip->flag &= ~POSE_CHAIN; - if (tree==NULL) { + if (tree == NULL) { /* make new tree */ - tree= MEM_callocN(sizeof(PoseTree), "posetree"); + tree = MEM_callocN(sizeof(PoseTree), "posetree"); - tree->type= CONSTRAINT_TYPE_KINEMATIC; + tree->type = CONSTRAINT_TYPE_KINEMATIC; - tree->iterations= data->iterations; - tree->totchannel= segcount; + tree->iterations = data->iterations; + tree->totchannel = segcount; tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH); - tree->pchan= MEM_callocN(segcount*sizeof(void*), "ik tree pchan"); - tree->parent= MEM_callocN(segcount*sizeof(int), "ik tree parent"); - for (a=0; apchan[a]= chanlist[segcount-a-1]; - tree->parent[a]= a-1; + tree->pchan = MEM_callocN(segcount * sizeof(void *), "ik tree pchan"); + tree->parent = MEM_callocN(segcount * sizeof(int), "ik tree parent"); + for (a = 0; a < segcount; a++) { + tree->pchan[a] = chanlist[segcount - a - 1]; + tree->parent[a] = a - 1; } - target->tip= segcount-1; + target->tip = segcount - 1; /* AND! link the tree to the root */ BLI_addtail(&pchan_root->iktree, tree); } else { - tree->iterations= MAX2(data->iterations, tree->iterations); - tree->stretch= tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH); + tree->iterations = MAX2(data->iterations, tree->iterations); + tree->stretch = tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH); /* skip common pose channels and add remaining*/ - size= MIN2(segcount, tree->totchannel); + size = MIN2(segcount, tree->totchannel); a = t = 0; - while (atotchannel) { + while (a < size && t < tree->totchannel) { // locate first matching channel - for (;ttotchannel && tree->pchan[t]!=chanlist[segcount-a-1];t++); - if (t>=tree->totchannel) + for (; t < tree->totchannel && tree->pchan[t] != chanlist[segcount - a - 1]; t++) ; + if (t >= tree->totchannel) break; - for (; atotchannel && tree->pchan[t]==chanlist[segcount-a-1]; a++, t++); + for (; a < size && t < tree->totchannel && tree->pchan[t] == chanlist[segcount - a - 1]; a++, t++) ; } - segcount= segcount-a; - target->tip= tree->totchannel + segcount - 1; + segcount = segcount - a; + target->tip = tree->totchannel + segcount - 1; if (segcount > 0) { for (parent = a - 1; parent < tree->totchannel; parent++) - if (tree->pchan[parent] == chanlist[segcount-1]->parent) + if (tree->pchan[parent] == chanlist[segcount - 1]->parent) break; /* shouldn't happen, but could with dependency cycles */ @@ -160,25 +160,25 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t parent = a - 1; /* resize array */ - newsize= tree->totchannel + segcount; - oldchan= tree->pchan; - oldparent= tree->parent; - - tree->pchan= MEM_callocN(newsize*sizeof(void*), "ik tree pchan"); - tree->parent= MEM_callocN(newsize*sizeof(int), "ik tree parent"); - memcpy(tree->pchan, oldchan, sizeof(void*)*tree->totchannel); - memcpy(tree->parent, oldparent, sizeof(int)*tree->totchannel); + newsize = tree->totchannel + segcount; + oldchan = tree->pchan; + oldparent = tree->parent; + + tree->pchan = MEM_callocN(newsize * sizeof(void *), "ik tree pchan"); + tree->parent = MEM_callocN(newsize * sizeof(int), "ik tree parent"); + memcpy(tree->pchan, oldchan, sizeof(void *) * tree->totchannel); + memcpy(tree->parent, oldparent, sizeof(int) * tree->totchannel); MEM_freeN(oldchan); MEM_freeN(oldparent); /* add new pose channels at the end, in reverse order */ - for (a=0; apchan[tree->totchannel+a]= chanlist[segcount-a-1]; - tree->parent[tree->totchannel+a]= tree->totchannel+a-1; + for (a = 0; a < segcount; a++) { + tree->pchan[tree->totchannel + a] = chanlist[segcount - a - 1]; + tree->parent[tree->totchannel + a] = tree->totchannel + a - 1; } - tree->parent[tree->totchannel]= parent; + tree->parent[tree->totchannel] = parent; - tree->totchannel= newsize; + tree->totchannel = newsize; } /* move tree to end of list, for correct evaluation order */ @@ -199,7 +199,7 @@ static void make_dmats(bPoseChannel *pchan) if (pchan->parent) { float iR_parmat[4][4]; invert_m4_m4(iR_parmat, pchan->parent->pose_mat); - mult_m4_m4m4(pchan->chan_mat, iR_parmat, pchan->pose_mat); // delta mat + mult_m4_m4m4(pchan->chan_mat, iR_parmat, pchan->pose_mat); // delta mat } else copy_m4_m4(pchan->chan_mat, pchan->pose_mat); } @@ -241,27 +241,27 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) float goal[4][4], goalinv[4][4]; float irest_basis[3][3], full_basis[3][3]; float end_pose[4][4], world_pose[4][4]; - float length, basis[3][3], rest_basis[3][3], start[3], *ikstretch=NULL; - float resultinf=0.0f; - int a, flag, hasstretch=0, resultblend=0; + float length, basis[3][3], rest_basis[3][3], start[3], *ikstretch = NULL; + float resultinf = 0.0f; + int a, flag, hasstretch = 0, resultblend = 0; bPoseChannel *pchan; IK_Segment *seg, *parent, **iktree, *iktarget; IK_Solver *solver; PoseTarget *target; - bKinematicConstraint *data, *poleangledata=NULL; + bKinematicConstraint *data, *poleangledata = NULL; Bone *bone; if (tree->totchannel == 0) return; - iktree= MEM_mallocN(sizeof(void*)*tree->totchannel, "ik tree"); + iktree = MEM_mallocN(sizeof(void *) * tree->totchannel, "ik tree"); - for (a=0; atotchannel; a++) { - pchan= tree->pchan[a]; - bone= pchan->bone; + for (a = 0; a < tree->totchannel; a++) { + pchan = tree->pchan[a]; + bone = pchan->bone; /* set DoF flag */ - flag= 0; + flag = 0; if (!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP)) flag |= IK_XDOF; if (!(pchan->ikflag & BONE_IK_NO_YDOF) && !(pchan->ikflag & BONE_IK_NO_YDOF_TEMP)) @@ -274,13 +274,13 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) hasstretch = 1; } - seg= iktree[a]= IK_CreateSegment(flag); + seg = iktree[a] = IK_CreateSegment(flag); /* find parent */ if (a == 0) - parent= NULL; + parent = NULL; else - parent= iktree[tree->parent[a]]; + parent = iktree[tree->parent[a]]; IK_SetParent(seg, parent); @@ -299,10 +299,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) sub_v3_v3v3(start, pchan->pose_head, pchan->parent->pose_tail); else /* only root bone (a = 0) has no parent */ - start[0]= start[1]= start[2]= 0.0f; + start[0] = start[1] = start[2] = 0.0f; /* change length based on bone size */ - length= bone->length*len_v3(R_bonemat[1]); + length = bone->length * len_v3(R_bonemat[1]); /* compute rest basis and its inverse */ copy_m3_m3(rest_basis, bone->bone_mat); @@ -335,18 +335,18 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]); if (tree->stretch && (pchan->ikstretch > 0.0f)) { - float ikstretch = pchan->ikstretch*pchan->ikstretch; - IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0f-ikstretch, 0.99f)); + float ikstretch = pchan->ikstretch * pchan->ikstretch; + IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0f - ikstretch, 0.99f)); IK_SetLimit(seg, IK_TRANS_Y, 0.001, 1e10); } } - solver= IK_CreateSolver(iktree[0]); + solver = IK_CreateSolver(iktree[0]); /* set solver goals */ /* first set the goal inverse transform, assuming the root of tree was done ok! */ - pchan= tree->pchan[0]; + pchan = tree->pchan[0]; if (pchan->parent) { /* transform goal by parent mat, so this rotation is not part of the * segment's basis. otherwise rotation limits do not work on the @@ -363,11 +363,11 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) mult_m4_m4m4(imat, ob->obmat, rootmat); invert_m4_m4(goalinv, imat); - for (target=tree->targets.first; target; target=target->next) { + for (target = tree->targets.first; target; target = target->next) { float polepos[3]; - int poleconstrain= 0; + int poleconstrain = 0; - data= (bKinematicConstraint*)target->con->data; + data = (bKinematicConstraint *)target->con->data; /* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though * strictly speaking, it is a posechannel) @@ -391,16 +391,16 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) else { mult_m4_m4m4(goal, goalinv, rootmat); copy_v3_v3(polepos, goal[3]); - poleconstrain= 1; + poleconstrain = 1; /* for pole targets, we blend the result of the ik solver * instead of the target position, otherwise we can't get * a smooth transition */ - resultblend= 1; - resultinf= target->con->enforce; + resultblend = 1; + resultinf = target->con->enforce; if (data->flag & CONSTRAINT_IK_GETANGLE) { - poleangledata= data; + poleangledata = data; data->flag &= ~CONSTRAINT_IK_GETANGLE; } } @@ -409,10 +409,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* do we need blending? */ if (!resultblend && target->con->enforce != 1.0f) { float q1[4], q2[4], q[4]; - float fac= target->con->enforce; - float mfac= 1.0f-fac; + float fac = target->con->enforce; + float mfac = 1.0f - fac; - pchan= tree->pchan[target->tip]; + pchan = tree->pchan[target->tip]; /* end effector in world space */ copy_m4_m4(end_pose, pchan->pose_mat); @@ -420,9 +420,9 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) mul_serie_m4(world_pose, goalinv, ob->obmat, end_pose, NULL, NULL, NULL, NULL, NULL); /* blend position */ - goalpos[0]= fac*goalpos[0] + mfac*world_pose[3][0]; - goalpos[1]= fac*goalpos[1] + mfac*world_pose[3][1]; - goalpos[2]= fac*goalpos[2] + mfac*world_pose[3][2]; + goalpos[0] = fac * goalpos[0] + mfac * world_pose[3][0]; + goalpos[1] = fac * goalpos[1] + mfac * world_pose[3][1]; + goalpos[2] = fac * goalpos[2] + mfac * world_pose[3][2]; /* blend rotation */ mat3_to_quat(q1, goalrot); @@ -431,65 +431,65 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) quat_to_mat3(goalrot, q); } - iktarget= iktree[target->tip]; + iktarget = iktree[target->tip]; if (data->weight != 0.0f) { if (poleconstrain) IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos, - polepos, data->poleangle, (poleangledata == data)); + polepos, data->poleangle, (poleangledata == data)); IK_SolverAddGoal(solver, iktarget, goalpos, data->weight); } if ((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0f)) - if ((data->flag & CONSTRAINT_IK_AUTO)==0) + if ((data->flag & CONSTRAINT_IK_AUTO) == 0) IK_SolverAddGoalOrientation(solver, iktarget, goalrot, - data->orientweight); + data->orientweight); } /* solve */ IK_Solve(solver, 0.0f, tree->iterations); if (poleangledata) - poleangledata->poleangle= IK_SolverGetPoleAngle(solver); + poleangledata->poleangle = IK_SolverGetPoleAngle(solver); IK_FreeSolver(solver); /* gather basis changes */ - tree->basis_change= MEM_mallocN(sizeof(float[3][3])*tree->totchannel, "ik basis change"); + tree->basis_change = MEM_mallocN(sizeof(float[3][3]) * tree->totchannel, "ik basis change"); if (hasstretch) - ikstretch= MEM_mallocN(sizeof(float)*tree->totchannel, "ik stretch"); + ikstretch = MEM_mallocN(sizeof(float) * tree->totchannel, "ik stretch"); - for (a=0; atotchannel; a++) { + for (a = 0; a < tree->totchannel; a++) { IK_GetBasisChange(iktree[a], tree->basis_change[a]); if (hasstretch) { /* have to compensate for scaling received from parent */ float parentstretch, stretch; - pchan= tree->pchan[a]; - parentstretch= (tree->parent[a] >= 0)? ikstretch[tree->parent[a]]: 1.0f; + pchan = tree->pchan[a]; + parentstretch = (tree->parent[a] >= 0) ? ikstretch[tree->parent[a]] : 1.0f; if (tree->stretch && (pchan->ikstretch > 0.0f)) { float trans[3], length; IK_GetTranslationChange(iktree[a], trans); - length= pchan->bone->length*len_v3(pchan->pose_mat[1]); + length = pchan->bone->length * len_v3(pchan->pose_mat[1]); - ikstretch[a]= (length == 0.0f)? 1.0f: (trans[1]+length)/length; + ikstretch[a] = (length == 0.0f) ? 1.0f : (trans[1] + length) / length; } else ikstretch[a] = 1.0; - stretch= (parentstretch == 0.0f)? 1.0f: ikstretch[a]/parentstretch; + stretch = (parentstretch == 0.0f) ? 1.0f : ikstretch[a] / parentstretch; mul_v3_fl(tree->basis_change[a][0], stretch); mul_v3_fl(tree->basis_change[a][1], stretch); mul_v3_fl(tree->basis_change[a][2], stretch); } - if (resultblend && resultinf!=1.0f) { + if (resultblend && resultinf != 1.0f) { unit_m3(identity); blend_m3_m3m3(tree->basis_change[a], identity, - tree->basis_change[a], resultinf); + tree->basis_change[a], resultinf); } IK_FreeSegment(iktree[a]); @@ -515,9 +515,9 @@ void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, fl { bPoseChannel *pchan; - for (pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) { + for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { if (pchan->constflag & PCHAN_HAS_IK) // flag is set on editing constraints - initialize_posetree(ob, pchan); // will attach it to root! + initialize_posetree(ob, pchan); // will attach it to root! } ob->pose->flag &= ~POSE_WAS_REBUILT; } @@ -525,7 +525,7 @@ void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, fl void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime) { while (pchan->iktree.first) { - PoseTree *tree= pchan->iktree.first; + PoseTree *tree = pchan->iktree.first; int a; /* stop on the first tree that isn't a standard IK chain */ @@ -533,8 +533,8 @@ void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPose return; /* 4. walk over the tree for regular solving */ - for (a=0; atotchannel; a++) { - if (!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag + 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); // tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() tree->pchan[a]->flag |= POSE_CHAIN; @@ -544,11 +544,11 @@ void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPose /* 6. apply the differences to the channels, * we need to calculate the original differences first */ - for (a=0; atotchannel; a++) { + for (a = 0; a < tree->totchannel; a++) { make_dmats(tree->pchan[a]); } - for (a=0; atotchannel; a++) { + for (a = 0; a < tree->totchannel; a++) { /* sets POSE_DONE */ where_is_ik_bone(tree->pchan[a], tree->basis_change[a]); } -- cgit v1.2.3