/* * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * Contributor(s): Full recode, Ton Roosendaal, Crete 2005 * * ***** END GPL LICENSE BLOCK ***** */ /** \file blender/blenkernel/intern/armature.c * \ingroup bke */ #include #include #include #include #include #include #include "MEM_guardedalloc.h" #include "BLI_math.h" #include "BLI_listbase.h" #include "BLI_string.h" #include "BLI_ghash.h" #include "BLI_task.h" #include "BLI_utildefines.h" #include "DNA_anim_types.h" #include "DNA_armature_types.h" #include "DNA_constraint_types.h" #include "DNA_mesh_types.h" #include "DNA_lattice_types.h" #include "DNA_listBase.h" #include "DNA_meshdata_types.h" #include "DNA_scene_types.h" #include "DNA_object_types.h" #include "BKE_animsys.h" #include "BKE_armature.h" #include "BKE_action.h" #include "BKE_anim.h" #include "BKE_constraint.h" #include "BKE_curve.h" #include "BKE_depsgraph.h" #include "BKE_DerivedMesh.h" #include "BKE_deform.h" #include "BKE_displist.h" #include "BKE_global.h" #include "BKE_idprop.h" #include "BKE_library.h" #include "BKE_library_query.h" #include "BKE_library_remap.h" #include "BKE_lattice.h" #include "BKE_main.h" #include "BKE_object.h" #include "BKE_scene.h" #include "BIK_api.h" #include "BKE_sketch.h" /* **************** Generic Functions, data level *************** */ bArmature *BKE_armature_add(Main *bmain, const char *name) { bArmature *arm; arm = BKE_libblock_alloc(bmain, ID_AR, name); arm->deformflag = ARM_DEF_VGROUP | ARM_DEF_ENVELOPE; arm->flag = ARM_COL_CUSTOM; /* custom bone-group colors */ arm->layer = 1; arm->ghostsize = 1; return arm; } bArmature *BKE_armature_from_object(Object *ob) { if (ob->type == OB_ARMATURE) return (bArmature *)ob->data; return NULL; } int BKE_armature_bonelist_count(ListBase *lb) { int i = 0; for (Bone *bone = lb->first; bone; bone = bone->next) { i += 1 + BKE_armature_bonelist_count(&bone->childbase); } return i; } void BKE_armature_bonelist_free(ListBase *lb) { Bone *bone; for (bone = lb->first; bone; bone = bone->next) { if (bone->prop) { IDP_FreeProperty(bone->prop); MEM_freeN(bone->prop); } BKE_armature_bonelist_free(&bone->childbase); } BLI_freelistN(lb); } /** Free (or release) any data used by this armature (does not free the armature itself). */ void BKE_armature_free(bArmature *arm) { BKE_animdata_free(&arm->id, false); BKE_armature_bonelist_free(&arm->bonebase); /* free editmode data */ if (arm->edbo) { BLI_freelistN(arm->edbo); MEM_freeN(arm->edbo); arm->edbo = NULL; } /* free sketch */ if (arm->sketch) { freeSketch(arm->sketch); arm->sketch = NULL; } } void BKE_armature_make_local(Main *bmain, bArmature *arm, const bool lib_local) { BKE_id_make_local_generic(bmain, &arm->id, true, lib_local); } static void copy_bonechildren(Bone *newBone, Bone *oldBone, Bone *actBone, Bone **newActBone) { Bone *curBone, *newChildBone; if (oldBone == actBone) *newActBone = newBone; if (oldBone->prop) newBone->prop = IDP_CopyProperty(oldBone->prop); /* Copy this bone's list */ BLI_duplicatelist(&newBone->childbase, &oldBone->childbase); /* For each child in the list, update it's children */ newChildBone = newBone->childbase.first; for (curBone = oldBone->childbase.first; curBone; curBone = curBone->next) { newChildBone->parent = newBone; copy_bonechildren(newChildBone, curBone, actBone, newActBone); newChildBone = newChildBone->next; } } bArmature *BKE_armature_copy(Main *bmain, bArmature *arm) { bArmature *newArm; Bone *oldBone, *newBone; Bone *newActBone = NULL; newArm = BKE_libblock_copy(bmain, &arm->id); BLI_duplicatelist(&newArm->bonebase, &arm->bonebase); /* Duplicate the childrens' lists */ newBone = newArm->bonebase.first; for (oldBone = arm->bonebase.first; oldBone; oldBone = oldBone->next) { newBone->parent = NULL; copy_bonechildren(newBone, oldBone, arm->act_bone, &newActBone); newBone = newBone->next; } newArm->act_bone = newActBone; newArm->edbo = NULL; newArm->act_edbone = NULL; newArm->sketch = NULL; BKE_id_copy_ensure_local(bmain, &arm->id, &newArm->id); return newArm; } static Bone *get_named_bone_bonechildren(ListBase *lb, const char *name) { Bone *curBone, *rbone; for (curBone = lb->first; curBone; curBone = curBone->next) { if (STREQ(curBone->name, name)) return curBone; rbone = get_named_bone_bonechildren(&curBone->childbase, name); if (rbone) return rbone; } return NULL; } /** * Walk the list until the bone is found (slow!), * use #BKE_armature_bone_from_name_map for multiple lookups. */ Bone *BKE_armature_find_bone_name(bArmature *arm, const char *name) { if (!arm) return NULL; return get_named_bone_bonechildren(&arm->bonebase, name); } static void armature_bone_from_name_insert_recursive(GHash *bone_hash, ListBase *lb) { for (Bone *bone = lb->first; bone; bone = bone->next) { BLI_ghash_insert(bone_hash, bone->name, bone); armature_bone_from_name_insert_recursive(bone_hash, &bone->childbase); } } /** * Create a (name -> bone) map. * * \note typically #bPose.chanhash us used via #BKE_pose_channel_find_name * this is for the cases we can't use pose channels. */ GHash *BKE_armature_bone_from_name_map(bArmature *arm) { const int bones_count = BKE_armature_bonelist_count(&arm->bonebase); GHash *bone_hash = BLI_ghash_str_new_ex(__func__, bones_count); armature_bone_from_name_insert_recursive(bone_hash, &arm->bonebase); return bone_hash; } bool BKE_armature_bone_flag_test_recursive(const Bone *bone, int flag) { if (bone->flag & flag) { return true; } else if (bone->parent) { return BKE_armature_bone_flag_test_recursive(bone->parent, flag); } else { return false; } } /* Finds the best possible extension to the name on a particular axis. (For renaming, check for * unique names afterwards) strip_number: removes number extensions (TODO: not used) * axis: the axis to name on * head/tail: the head/tail co-ordinate of the bone on the specified axis */ int bone_autoside_name(char name[MAXBONENAME], int UNUSED(strip_number), short axis, float head, float tail) { unsigned int len; char basename[MAXBONENAME] = ""; char extension[5] = ""; len = strlen(name); if (len == 0) return 0; BLI_strncpy(basename, name, sizeof(basename)); /* Figure out extension to append: * - The extension to append is based upon the axis that we are working on. * - If head happens to be on 0, then we must consider the tail position as well to decide * which side the bone is on * -> If tail is 0, then it's bone is considered to be on axis, so no extension should be added * -> Otherwise, extension is added from perspective of object based on which side tail goes to * - If head is non-zero, extension is added from perspective of object based on side head is on */ if (axis == 2) { /* z-axis - vertical (top/bottom) */ if (IS_EQF(head, 0.0f)) { if (tail < 0) strcpy(extension, "Bot"); else if (tail > 0) strcpy(extension, "Top"); } else { if (head < 0) strcpy(extension, "Bot"); else strcpy(extension, "Top"); } } else if (axis == 1) { /* y-axis - depth (front/back) */ if (IS_EQF(head, 0.0f)) { if (tail < 0) strcpy(extension, "Fr"); else if (tail > 0) strcpy(extension, "Bk"); } else { if (head < 0) strcpy(extension, "Fr"); else strcpy(extension, "Bk"); } } else { /* x-axis - horizontal (left/right) */ if (IS_EQF(head, 0.0f)) { if (tail < 0) strcpy(extension, "R"); else if (tail > 0) strcpy(extension, "L"); } else { if (head < 0) strcpy(extension, "R"); /* XXX Shouldn't this be simple else, as for z and y axes? */ else if (head > 0) strcpy(extension, "L"); } } /* Simple name truncation * - truncate if there is an extension and it wouldn't be able to fit * - otherwise, just append to end */ if (extension[0]) { bool changed = true; while (changed) { /* remove extensions */ changed = false; if (len > 2 && basename[len - 2] == '.') { if (basename[len - 1] == 'L' || basename[len - 1] == 'R') { /* L R */ basename[len - 2] = '\0'; len -= 2; changed = true; } } else if (len > 3 && basename[len - 3] == '.') { if ((basename[len - 2] == 'F' && basename[len - 1] == 'r') || /* Fr */ (basename[len - 2] == 'B' && basename[len - 1] == 'k')) /* Bk */ { basename[len - 3] = '\0'; len -= 3; changed = true; } } else if (len > 4 && basename[len - 4] == '.') { if ((basename[len - 3] == 'T' && basename[len - 2] == 'o' && basename[len - 1] == 'p') || /* Top */ (basename[len - 3] == 'B' && basename[len - 2] == 'o' && basename[len - 1] == 't')) /* Bot */ { basename[len - 4] = '\0'; len -= 4; changed = true; } } } if ((MAXBONENAME - len) < strlen(extension) + 1) { /* add 1 for the '.' */ strncpy(name, basename, len - strlen(extension)); } BLI_snprintf(name, MAXBONENAME, "%s.%s", basename, extension); return 1; } else return 0; } /* ************* B-Bone support ******************* */ /* data has MAX_BBONE_SUBDIV+1 interpolated points, will become desired amount with equal distances */ void equalize_bbone_bezier(float *data, int desired) { float *fp, totdist, ddist, dist, fac1, fac2; float pdist[MAX_BBONE_SUBDIV + 1]; float temp[MAX_BBONE_SUBDIV + 1][4]; int a, nr; pdist[0] = 0.0f; for (a = 0, fp = data; a < MAX_BBONE_SUBDIV; a++, fp += 4) { copy_qt_qt(temp[a], fp); pdist[a + 1] = pdist[a] + len_v3v3(fp, fp + 4); } /* do last point */ copy_qt_qt(temp[a], fp); totdist = pdist[a]; /* go over distances and calculate new points */ ddist = totdist / ((float)desired); nr = 1; for (a = 1, fp = data + 4; a < desired; a++, fp += 4) { dist = ((float)a) * ddist; /* we're looking for location (distance) 'dist' in the array */ while ((nr < MAX_BBONE_SUBDIV) && (dist >= pdist[nr])) nr++; fac1 = pdist[nr] - pdist[nr - 1]; fac2 = pdist[nr] - dist; fac1 = fac2 / fac1; fac2 = 1.0f - fac1; fp[0] = fac1 * temp[nr - 1][0] + fac2 * temp[nr][0]; fp[1] = fac1 * temp[nr - 1][1] + fac2 * temp[nr][1]; fp[2] = fac1 * temp[nr - 1][2] + fac2 * temp[nr][2]; fp[3] = fac1 * temp[nr - 1][3] + fac2 * temp[nr][3]; } /* set last point, needed for orientation calculus */ copy_qt_qt(fp, temp[MAX_BBONE_SUBDIV]); } /* returns pointer to static array, filled with desired amount of bone->segments elements */ /* this calculation is done within unit bone space */ void b_bone_spline_setup(bPoseChannel *pchan, int rest, Mat4 result_array[MAX_BBONE_SUBDIV]) { bPoseChannel *next, *prev; Bone *bone = pchan->bone; float h1[3], h2[3], scale[3], length, roll1 = 0.0f, roll2; float mat3[3][3], imat[4][4], posemat[4][4], scalemat[4][4], iscalemat[4][4]; float data[MAX_BBONE_SUBDIV + 1][4], *fp; int a; bool do_scale = false; length = bone->length; if (!rest) { /* check if we need to take non-uniform bone scaling into account */ mat4_to_size(scale, pchan->pose_mat); if (fabsf(scale[0] - scale[1]) > 1e-6f || fabsf(scale[1] - scale[2]) > 1e-6f) { size_to_mat4(scalemat, scale); invert_m4_m4(iscalemat, scalemat); length *= scale[1]; do_scale = 1; } } /* get "next" and "prev" bones - these are used for handle calculations */ if (pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) { /* use the provided bones as the next/prev - leave blank to eliminate this effect altogether */ prev = pchan->bbone_prev; next = pchan->bbone_next; } else { /* evaluate next and prev bones */ if (bone->flag & BONE_CONNECTED) prev = pchan->parent; else prev = NULL; next = pchan->child; } /* find the handle points, since this is inside bone space, the * first point = (0, 0, 0) * last point = (0, length, 0) */ if (rest) { invert_m4_m4(imat, pchan->bone->arm_mat); } else if (do_scale) { copy_m4_m4(posemat, pchan->pose_mat); normalize_m4(posemat); invert_m4_m4(imat, posemat); } else invert_m4_m4(imat, pchan->pose_mat); if (prev) { float difmat[4][4], result[3][3], imat3[3][3]; /* transform previous point inside this bone space */ if ((pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) && (pchan->bboneflag & PCHAN_BBONE_CUSTOM_START_REL)) { /* Use delta movement (from restpose), and apply this relative to the current bone's head */ if (rest) { /* in restpose, arm_head == pose_head */ h1[0] = h1[1] = h1[2] = 0.0f; } else { float delta[3]; sub_v3_v3v3(delta, prev->pose_head, prev->bone->arm_head); sub_v3_v3v3(h1, pchan->pose_head, delta); } } else { /* Use bone head as absolute position */ if (rest) copy_v3_v3(h1, prev->bone->arm_head); else copy_v3_v3(h1, prev->pose_head); } mul_m4_v3(imat, h1); if (prev->bone->segments > 1) { /* if previous bone is B-bone too, use average handle direction */ h1[1] -= length; roll1 = 0.0f; } normalize_v3(h1); negate_v3(h1); if (prev->bone->segments == 1) { /* find the previous roll to interpolate */ if (rest) mul_m4_m4m4(difmat, imat, prev->bone->arm_mat); else mul_m4_m4m4(difmat, imat, prev->pose_mat); copy_m3_m4(result, difmat); /* the desired rotation at beginning of next bone */ vec_roll_to_mat3(h1, 0.0f, mat3); /* the result of vec_roll without roll */ invert_m3_m3(imat3, mat3); mul_m3_m3m3(mat3, result, imat3); /* the matrix transforming vec_roll to desired roll */ roll1 = atan2f(mat3[2][0], mat3[2][2]); } } else { h1[0] = 0.0f; h1[1] = 1.0; h1[2] = 0.0f; roll1 = 0.0f; } if (next) { float difmat[4][4], result[3][3], imat3[3][3]; /* transform next point inside this bone space */ if ((pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) && (pchan->bboneflag & PCHAN_BBONE_CUSTOM_END_REL)) { /* Use delta movement (from restpose), and apply this relative to the current bone's tail */ if (rest) { /* in restpose, arm_tail == pose_tail */ h2[0] = h2[1] = h2[2] = 0.0f; } else { float delta[3]; sub_v3_v3v3(delta, next->pose_tail, next->bone->arm_tail); add_v3_v3v3(h2, pchan->pose_tail, delta); } } else { /* Use bone tail as absolute position */ if (rest) copy_v3_v3(h2, next->bone->arm_tail); else copy_v3_v3(h2, next->pose_tail); } mul_m4_v3(imat, h2); /* if next bone is B-bone too, use average handle direction */ if (next->bone->segments > 1) { /* pass */ } else { h2[1] -= length; } normalize_v3(h2); /* find the next roll to interpolate as well */ if (rest) mul_m4_m4m4(difmat, imat, next->bone->arm_mat); else mul_m4_m4m4(difmat, imat, next->pose_mat); copy_m3_m4(result, difmat); /* the desired rotation at beginning of next bone */ vec_roll_to_mat3(h2, 0.0f, mat3); /* the result of vec_roll without roll */ invert_m3_m3(imat3, mat3); mul_m3_m3m3(mat3, imat3, result); /* the matrix transforming vec_roll to desired roll */ roll2 = atan2f(mat3[2][0], mat3[2][2]); } else { h2[0] = 0.0f; h2[1] = 1.0f; h2[2] = 0.0f; roll2 = 0.0; } { const float circle_factor = length * (cubic_tangent_factor_circle_v3(h1, h2) / 0.75f); const float hlength1 = bone->ease1 * circle_factor; const float hlength2 = bone->ease2 * circle_factor; /* and only now negate h2 */ mul_v3_fl(h1, hlength1); mul_v3_fl(h2, -hlength2); } /* Add effects from bbone properties over the top * - These properties allow users to hand-animate the * bone curve/shape, without having to resort to using * extra bones * - The "bone" level offsets are for defining the restpose * shape of the bone (e.g. for curved eyebrows for example). * -> In the viewport, it's needed to define what the rest pose * looks like * -> For "rest == 0", we also still need to have it present * so that we can "cancel out" this restpose when it comes * time to deform some geometry, it won't cause double transforms. * - The "pchan" level offsets are the ones that animators actually * end up animating */ { /* add extra rolls */ roll1 += bone->roll1 + (!rest ? pchan->roll1 : 0.0f); roll2 += bone->roll2 + (!rest ? pchan->roll2 : 0.0f); if (bone->flag & BONE_ADD_PARENT_END_ROLL) { if (prev) { if (prev->bone) roll1 += prev->bone->roll2; if (!rest) roll1 += prev->roll2; } } /* extra curve x / y */ /* NOTE: Scale correction factors here are to compensate for some random floating-point glitches * when scaling up the bone or it's parent by a factor of approximately 8.15/6, which results * in the bone length getting scaled up too (from 1 to 8), causing the curve to flatten out. */ const float xscale_correction = (do_scale) ? scale[0] : 1.0f; const float yscale_correction = (do_scale) ? scale[2] : 1.0f; h1[0] += (bone->curveInX + (!rest ? pchan->curveInX : 0.0f)) * xscale_correction; h1[2] += (bone->curveInY + (!rest ? pchan->curveInY : 0.0f)) * yscale_correction; h2[0] += (bone->curveOutX + (!rest ? pchan->curveOutX : 0.0f)) * xscale_correction; h2[2] += (bone->curveOutY + (!rest ? pchan->curveOutY : 0.0f)) * yscale_correction; } /* make curve */ if (bone->segments > MAX_BBONE_SUBDIV) bone->segments = MAX_BBONE_SUBDIV; BKE_curve_forward_diff_bezier(0.0f, h1[0], h2[0], 0.0f, data[0], MAX_BBONE_SUBDIV, 4 * sizeof(float)); BKE_curve_forward_diff_bezier(0.0f, h1[1], length + h2[1], length, data[0] + 1, MAX_BBONE_SUBDIV, 4 * sizeof(float)); BKE_curve_forward_diff_bezier(0.0f, h1[2], h2[2], 0.0f, data[0] + 2, MAX_BBONE_SUBDIV, 4 * sizeof(float)); BKE_curve_forward_diff_bezier(roll1, roll1 + 0.390464f * (roll2 - roll1), roll2 - 0.390464f * (roll2 - roll1), roll2, data[0] + 3, MAX_BBONE_SUBDIV, 4 * sizeof(float)); equalize_bbone_bezier(data[0], bone->segments); /* note: does stride 4! */ /* make transformation matrices for the segments for drawing */ for (a = 0, fp = data[0]; a < bone->segments; a++, fp += 4) { sub_v3_v3v3(h1, fp + 4, fp); vec_roll_to_mat3(h1, fp[3], mat3); /* fp[3] is roll */ copy_m4_m3(result_array[a].mat, mat3); copy_v3_v3(result_array[a].mat[3], fp); if (do_scale) { /* correct for scaling when this matrix is used in scaled space */ mul_m4_series(result_array[a].mat, iscalemat, result_array[a].mat, scalemat); } /* BBone scale... */ { const int num_segments = bone->segments; const float scaleIn = bone->scaleIn * (!rest ? pchan->scaleIn : 1.0f); const float scaleFactorIn = 1.0f + (scaleIn - 1.0f) * ((float)(num_segments - a) / (float)num_segments); const float scaleOut = bone->scaleOut * (!rest ? pchan->scaleOut : 1.0f); const float scaleFactorOut = 1.0f + (scaleOut - 1.0f) * ((float)(a + 1) / (float)num_segments); const float scalefac = scaleFactorIn * scaleFactorOut; float bscalemat[4][4], bscale[3]; bscale[0] = scalefac; bscale[1] = 1.0f; bscale[2] = scalefac; size_to_mat4(bscalemat, bscale); /* Note: don't multiply by inverse scale mat here, as it causes problems with scaling shearing and breaking segment chains */ /*mul_m4_series(result_array[a].mat, ibscalemat, result_array[a].mat, bscalemat);*/ mul_m4_series(result_array[a].mat, result_array[a].mat, bscalemat); } } } /* ************ Armature Deform ******************* */ typedef struct bPoseChanDeform { Mat4 *b_bone_mats; DualQuat *dual_quat; DualQuat *b_bone_dual_quats; } bPoseChanDeform; static void pchan_b_bone_defmats(bPoseChannel *pchan, bPoseChanDeform *pdef_info, const bool use_quaternion) { Bone *bone = pchan->bone; Mat4 b_bone[MAX_BBONE_SUBDIV], b_bone_rest[MAX_BBONE_SUBDIV]; Mat4 *b_bone_mats; DualQuat *b_bone_dual_quats = NULL; int a; b_bone_spline_setup(pchan, 0, b_bone); b_bone_spline_setup(pchan, 1, b_bone_rest); /* allocate b_bone matrices and dual quats */ b_bone_mats = MEM_mallocN((1 + bone->segments) * sizeof(Mat4), "BBone defmats"); pdef_info->b_bone_mats = b_bone_mats; if (use_quaternion) { b_bone_dual_quats = MEM_mallocN((bone->segments) * sizeof(DualQuat), "BBone dqs"); pdef_info->b_bone_dual_quats = b_bone_dual_quats; } /* first matrix is the inverse arm_mat, to bring points in local bone space * for finding out which segment it belongs to */ invert_m4_m4(b_bone_mats[0].mat, bone->arm_mat); /* then we make the b_bone_mats: * - first transform to local bone space * - translate over the curve to the bbone mat space * - transform with b_bone matrix * - transform back into global space */ for (a = 0; a < bone->segments; a++) { float tmat[4][4]; invert_m4_m4(tmat, b_bone_rest[a].mat); mul_m4_series(b_bone_mats[a + 1].mat, pchan->chan_mat, bone->arm_mat, b_bone[a].mat, tmat, b_bone_mats[0].mat); if (use_quaternion) mat4_to_dquat(&b_bone_dual_quats[a], bone->arm_mat, b_bone_mats[a + 1].mat); } } static void b_bone_deform(bPoseChanDeform *pdef_info, Bone *bone, float co[3], DualQuat *dq, float defmat[3][3]) { Mat4 *b_bone = pdef_info->b_bone_mats; float (*mat)[4] = b_bone[0].mat; float segment, y; int a; /* need to transform co back to bonespace, only need y */ y = mat[0][1] * co[0] + mat[1][1] * co[1] + mat[2][1] * co[2] + mat[3][1]; /* now calculate which of the b_bones are deforming this */ segment = bone->length / ((float)bone->segments); a = (int)(y / segment); /* note; by clamping it extends deform at endpoints, goes best with * straight joints in restpos. */ CLAMP(a, 0, bone->segments - 1); if (dq) { copy_dq_dq(dq, &(pdef_info->b_bone_dual_quats)[a]); } else { mul_m4_v3(b_bone[a + 1].mat, co); if (defmat) { copy_m3_m4(defmat, b_bone[a + 1].mat); } } } /* using vec with dist to bone b1 - b2 */ float distfactor_to_bone(const float vec[3], const float b1[3], const float b2[3], float rad1, float rad2, float rdist) { float dist_sq; float bdelta[3]; float pdelta[3]; float hsqr, a, l, rad; sub_v3_v3v3(bdelta, b2, b1); l = normalize_v3(bdelta); sub_v3_v3v3(pdelta, vec, b1); a = dot_v3v3(bdelta, pdelta); hsqr = len_squared_v3(pdelta); if (a < 0.0f) { /* If we're past the end of the bone, do a spherical field attenuation thing */ dist_sq = len_squared_v3v3(b1, vec); rad = rad1; } else if (a > l) { /* If we're past the end of the bone, do a spherical field attenuation thing */ dist_sq = len_squared_v3v3(b2, vec); rad = rad2; } else { dist_sq = (hsqr - (a * a)); if (l != 0.0f) { rad = a / l; rad = rad * rad2 + (1.0f - rad) * rad1; } else rad = rad1; } a = rad * rad; if (dist_sq < a) return 1.0f; else { l = rad + rdist; l *= l; if (rdist == 0.0f || dist_sq >= l) return 0.0f; else { a = sqrtf(dist_sq) - rad; return 1.0f - (a * a) / (rdist * rdist); } } } static void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonemat[3][3], float mat[3][3]) { float wmat[3][3]; if (pchan->bone->segments > 1) copy_m3_m3(wmat, bbonemat); else copy_m3_m4(wmat, pchan->chan_mat); mul_m3_fl(wmat, weight); add_m3_m3m3(mat, mat, wmat); } static float dist_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float vec[3], DualQuat *dq, float mat[3][3], const float co[3]) { Bone *bone = pchan->bone; float fac, contrib = 0.0; float cop[3], bbonemat[3][3]; DualQuat bbonedq; if (bone == NULL) return 0.0f; copy_v3_v3(cop, co); fac = distfactor_to_bone(cop, bone->arm_head, bone->arm_tail, bone->rad_head, bone->rad_tail, bone->dist); if (fac > 0.0f) { fac *= bone->weight; contrib = fac; if (contrib > 0.0f) { if (vec) { if (bone->segments > 1) /* applies on cop and bbonemat */ b_bone_deform(pdef_info, bone, cop, NULL, (mat) ? bbonemat : NULL); else mul_m4_v3(pchan->chan_mat, cop); /* Make this a delta from the base position */ sub_v3_v3(cop, co); madd_v3_v3fl(vec, cop, fac); if (mat) pchan_deform_mat_add(pchan, fac, bbonemat, mat); } else { if (bone->segments > 1) { b_bone_deform(pdef_info, bone, cop, &bbonedq, NULL); add_weighted_dq_dq(dq, &bbonedq, fac); } else add_weighted_dq_dq(dq, pdef_info->dual_quat, fac); } } } return contrib; } static void pchan_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float weight, float vec[3], DualQuat *dq, float mat[3][3], const float co[3], float *contrib) { float cop[3], bbonemat[3][3]; DualQuat bbonedq; if (!weight) return; copy_v3_v3(cop, co); if (vec) { if (pchan->bone->segments > 1) /* applies on cop and bbonemat */ b_bone_deform(pdef_info, pchan->bone, cop, NULL, (mat) ? bbonemat : NULL); else mul_m4_v3(pchan->chan_mat, cop); vec[0] += (cop[0] - co[0]) * weight; vec[1] += (cop[1] - co[1]) * weight; vec[2] += (cop[2] - co[2]) * weight; if (mat) pchan_deform_mat_add(pchan, weight, bbonemat, mat); } else { if (pchan->bone->segments > 1) { b_bone_deform(pdef_info, pchan->bone, cop, &bbonedq, NULL); add_weighted_dq_dq(dq, &bbonedq, weight); } else add_weighted_dq_dq(dq, pdef_info->dual_quat, weight); } (*contrib) += weight; } typedef struct ArmatureBBoneDefmatsData { bPoseChanDeform *pdef_info_array; DualQuat *dualquats; bool use_quaternion; } ArmatureBBoneDefmatsData; static void armature_bbone_defmats_cb(void *userdata, Link *iter, int index) { ArmatureBBoneDefmatsData *data = userdata; bPoseChannel *pchan = (bPoseChannel *)iter; if (!(pchan->bone->flag & BONE_NO_DEFORM)) { bPoseChanDeform *pdef_info = &data->pdef_info_array[index]; const bool use_quaternion = data->use_quaternion; if (pchan->bone->segments > 1) { pchan_b_bone_defmats(pchan, pdef_info, use_quaternion); } if (use_quaternion) { pdef_info->dual_quat = &data->dualquats[index]; mat4_to_dquat(pdef_info->dual_quat, pchan->bone->arm_mat, pchan->chan_mat); } } } void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, float (*vertexCos)[3], float (*defMats)[3][3], int numVerts, int deformflag, float (*prevCos)[3], const char *defgrp_name) { bPoseChanDeform *pdef_info_array; bPoseChanDeform *pdef_info = NULL; bArmature *arm = armOb->data; bPoseChannel *pchan, **defnrToPC = NULL; int *defnrToPCIndex = NULL; MDeformVert *dverts = NULL; bDeformGroup *dg; DualQuat *dualquats = NULL; float obinv[4][4], premat[4][4], postmat[4][4]; const bool use_envelope = (deformflag & ARM_DEF_ENVELOPE) != 0; const bool use_quaternion = (deformflag & ARM_DEF_QUATERNION) != 0; const bool invert_vgroup = (deformflag & ARM_DEF_INVERT_VGROUP) != 0; int defbase_tot = 0; /* safety for vertexgroup index overflow */ int i, target_totvert = 0; /* safety for vertexgroup overflow */ bool use_dverts = false; int armature_def_nr; int totchan; /* in editmode, or not an armature */ if (arm->edbo || (armOb->pose == NULL)) { return; } invert_m4_m4(obinv, target->obmat); copy_m4_m4(premat, target->obmat); mul_m4_m4m4(postmat, obinv, armOb->obmat); invert_m4_m4(premat, postmat); /* bone defmats are already in the channels, chan_mat */ /* initialize B_bone matrices and dual quaternions */ totchan = BLI_listbase_count(&armOb->pose->chanbase); if (use_quaternion) { dualquats = MEM_callocN(sizeof(DualQuat) * totchan, "dualquats"); } pdef_info_array = MEM_callocN(sizeof(bPoseChanDeform) * totchan, "bPoseChanDeform"); ArmatureBBoneDefmatsData data = { .pdef_info_array = pdef_info_array, .dualquats = dualquats, .use_quaternion = use_quaternion }; BLI_task_parallel_listbase(&armOb->pose->chanbase, &data, armature_bbone_defmats_cb, totchan > 512); /* get the def_nr for the overall armature vertex group if present */ armature_def_nr = defgroup_name_index(target, defgrp_name); if (ELEM(target->type, OB_MESH, OB_LATTICE)) { defbase_tot = BLI_listbase_count(&target->defbase); if (target->type == OB_MESH) { Mesh *me = target->data; dverts = me->dvert; if (dverts) target_totvert = me->totvert; } else { Lattice *lt = target->data; dverts = lt->dvert; if (dverts) target_totvert = lt->pntsu * lt->pntsv * lt->pntsw; } } /* get a vertex-deform-index to posechannel array */ if (deformflag & ARM_DEF_VGROUP) { if (ELEM(target->type, OB_MESH, OB_LATTICE)) { /* if we have a DerivedMesh, only use dverts if it has them */ if (dm) { use_dverts = (dm->getVertDataArray(dm, CD_MDEFORMVERT) != NULL); } else if (dverts) { use_dverts = true; } if (use_dverts) { defnrToPC = MEM_callocN(sizeof(*defnrToPC) * defbase_tot, "defnrToBone"); defnrToPCIndex = MEM_callocN(sizeof(*defnrToPCIndex) * defbase_tot, "defnrToIndex"); /* TODO(sergey): Some considerations here: * * - Make it more generic function, maybe even keep together with chanhash. * - Check whether keeping this consistent across frames gives speedup. * - Don't use hash for small armatures. */ GHash *idx_hash = BLI_ghash_ptr_new("pose channel index by name"); int pchan_index = 0; for (pchan = armOb->pose->chanbase.first; pchan != NULL; pchan = pchan->next, ++pchan_index) { BLI_ghash_insert(idx_hash, pchan, SET_INT_IN_POINTER(pchan_index)); } for (i = 0, dg = target->defbase.first; dg; i++, dg = dg->next) { defnrToPC[i] = BKE_pose_channel_find_name(armOb->pose, dg->name); /* exclude non-deforming bones */ if (defnrToPC[i]) { if (defnrToPC[i]->bone->flag & BONE_NO_DEFORM) { defnrToPC[i] = NULL; } else { defnrToPCIndex[i] = GET_INT_FROM_POINTER(BLI_ghash_lookup(idx_hash, defnrToPC[i])); } } } BLI_ghash_free(idx_hash, NULL, NULL); } } } for (i = 0; i < numVerts; i++) { MDeformVert *dvert; DualQuat sumdq, *dq = NULL; float *co, dco[3]; float sumvec[3], summat[3][3]; float *vec = NULL, (*smat)[3] = NULL; float contrib = 0.0f; float armature_weight = 1.0f; /* default to 1 if no overall def group */ float prevco_weight = 1.0f; /* weight for optional cached vertexcos */ if (use_quaternion) { memset(&sumdq, 0, sizeof(DualQuat)); dq = &sumdq; } else { sumvec[0] = sumvec[1] = sumvec[2] = 0.0f; vec = sumvec; if (defMats) { zero_m3(summat); smat = summat; } } if (use_dverts || armature_def_nr != -1) { if (dm) dvert = dm->getVertData(dm, i, CD_MDEFORMVERT); else if (dverts && i < target_totvert) dvert = dverts + i; else dvert = NULL; } else dvert = NULL; if (armature_def_nr != -1 && dvert) { armature_weight = defvert_find_weight(dvert, armature_def_nr); if (invert_vgroup) armature_weight = 1.0f - armature_weight; /* hackish: the blending factor can be used for blending with prevCos too */ if (prevCos) { prevco_weight = armature_weight; armature_weight = 1.0f; } } /* check if there's any point in calculating for this vert */ if (armature_weight == 0.0f) continue; /* get the coord we work on */ co = prevCos ? prevCos[i] : vertexCos[i]; /* Apply the object's matrix */ mul_m4_v3(premat, co); if (use_dverts && dvert && dvert->totweight) { /* use weight groups ? */ MDeformWeight *dw = dvert->dw; int deformed = 0; unsigned int j; for (j = dvert->totweight; j != 0; j--, dw++) { const int index = dw->def_nr; if (index >= 0 && index < defbase_tot && (pchan = defnrToPC[index])) { float weight = dw->weight; Bone *bone = pchan->bone; pdef_info = pdef_info_array + defnrToPCIndex[index]; deformed = 1; if (bone && bone->flag & BONE_MULT_VG_ENV) { weight *= distfactor_to_bone(co, bone->arm_head, bone->arm_tail, bone->rad_head, bone->rad_tail, bone->dist); } pchan_bone_deform(pchan, pdef_info, weight, vec, dq, smat, co, &contrib); } } /* if there are vertexgroups but not groups with bones * (like for softbody groups) */ if (deformed == 0 && use_envelope) { pdef_info = pdef_info_array; for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) { if (!(pchan->bone->flag & BONE_NO_DEFORM)) contrib += dist_bone_deform(pchan, pdef_info, vec, dq, smat, co); } } } else if (use_envelope) { pdef_info = pdef_info_array; for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) { if (!(pchan->bone->flag & BONE_NO_DEFORM)) contrib += dist_bone_deform(pchan, pdef_info, vec, dq, smat, co); } } /* actually should be EPSILON? weight values and contrib can be like 10e-39 small */ if (contrib > 0.0001f) { if (use_quaternion) { normalize_dq(dq, contrib); if (armature_weight != 1.0f) { copy_v3_v3(dco, co); mul_v3m3_dq(dco, (defMats) ? summat : NULL, dq); sub_v3_v3(dco, co); mul_v3_fl(dco, armature_weight); add_v3_v3(co, dco); } else mul_v3m3_dq(co, (defMats) ? summat : NULL, dq); smat = summat; } else { mul_v3_fl(vec, armature_weight / contrib); add_v3_v3v3(co, vec, co); } if (defMats) { float pre[3][3], post[3][3], tmpmat[3][3]; copy_m3_m4(pre, premat); copy_m3_m4(post, postmat); copy_m3_m3(tmpmat, defMats[i]); if (!use_quaternion) /* quaternion already is scale corrected */ mul_m3_fl(smat, armature_weight / contrib); mul_m3_series(defMats[i], post, smat, pre, tmpmat); } } /* always, check above code */ mul_m4_v3(postmat, co); /* interpolate with previous modifier position using weight group */ if (prevCos) { float mw = 1.0f - prevco_weight; vertexCos[i][0] = prevco_weight * vertexCos[i][0] + mw * co[0]; vertexCos[i][1] = prevco_weight * vertexCos[i][1] + mw * co[1]; vertexCos[i][2] = prevco_weight * vertexCos[i][2] + mw * co[2]; } } if (dualquats) MEM_freeN(dualquats); if (defnrToPC) MEM_freeN(defnrToPC); if (defnrToPCIndex) MEM_freeN(defnrToPCIndex); /* free B_bone matrices */ pdef_info = pdef_info_array; for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) { if (pdef_info->b_bone_mats) MEM_freeN(pdef_info->b_bone_mats); if (pdef_info->b_bone_dual_quats) MEM_freeN(pdef_info->b_bone_dual_quats); } MEM_freeN(pdef_info_array); } /* ************ END Armature Deform ******************* */ void get_objectspace_bone_matrix(struct Bone *bone, float M_accumulatedMatrix[4][4], int UNUSED(root), int UNUSED(posed)) { copy_m4_m4(M_accumulatedMatrix, bone->arm_mat); } /* **************** Space to Space API ****************** */ /* Convert World-Space Matrix to Pose-Space Matrix */ void BKE_armature_mat_world_to_pose(Object *ob, float inmat[4][4], float outmat[4][4]) { float obmat[4][4]; /* prevent crashes */ if (ob == NULL) return; /* get inverse of (armature) object's matrix */ invert_m4_m4(obmat, ob->obmat); /* multiply given matrix by object's-inverse to find pose-space matrix */ mul_m4_m4m4(outmat, inmat, obmat); } /* Convert World-Space Location to Pose-Space Location * NOTE: this cannot be used to convert to pose-space location of the supplied * pose-channel into its local space (i.e. 'visual'-keyframing) */ void BKE_armature_loc_world_to_pose(Object *ob, const float inloc[3], float outloc[3]) { float xLocMat[4][4]; float nLocMat[4][4]; /* build matrix for location */ unit_m4(xLocMat); copy_v3_v3(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ BKE_armature_mat_world_to_pose(ob, xLocMat, nLocMat); copy_v3_v3(outloc, nLocMat[3]); } /* Simple helper, computes the offset bone matrix. * offs_bone = yoffs(b-1) + root(b) + bonemat(b). * Not exported, as it is only used in this file currently... */ static void get_offset_bone_mat(Bone *bone, float offs_bone[4][4]) { BLI_assert(bone->parent != NULL); /* Bone transform itself. */ copy_m4_m3(offs_bone, bone->bone_mat); /* The bone's root offset (is in the parent's coordinate system). */ copy_v3_v3(offs_bone[3], bone->head); /* Get the length translation of parent (length along y axis). */ offs_bone[3][1] += bone->parent->length; } /* Construct the matrices (rot/scale and loc) to apply the PoseChannels into the armature (object) space. * I.e. (roughly) the "pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)" in the * pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) * ...function. * * This allows to get the transformations of a bone in its object space, *before* constraints (and IK) * get applied (used by pose evaluation code). * And reverse: to find pchan transformations needed to place a bone at a given loc/rot/scale * in object space (used by interactive transform, and snapping code). * * Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location matrix * will differ from the rotation/scale matrix... * * NOTE: This cannot be used to convert to pose-space transforms of the supplied * pose-channel into its local space (i.e. 'visual'-keyframing). * (note: I don't understand that, so I keep it :p --mont29). */ void BKE_pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[4][4], float loc_mat[4][4]) { Bone *bone, *parbone; bPoseChannel *parchan; /* set up variables for quicker access below */ bone = pchan->bone; parbone = bone->parent; parchan = pchan->parent; if (parchan) { float offs_bone[4][4]; /* yoffs(b-1) + root(b) + bonemat(b). */ get_offset_bone_mat(bone, offs_bone); /* Compose the rotscale matrix for this bone. */ if ((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) { /* Parent rest rotation and scale. */ mul_m4_m4m4(rotscale_mat, parbone->arm_mat, offs_bone); } else if (bone->flag & BONE_HINGE) { /* Parent rest rotation and pose scale. */ float tmat[4][4], tscale[3]; /* Extract the scale of the parent pose matrix. */ mat4_to_size(tscale, parchan->pose_mat); size_to_mat4(tmat, tscale); /* Applies the parent pose scale to the rest matrix. */ mul_m4_m4m4(tmat, tmat, parbone->arm_mat); mul_m4_m4m4(rotscale_mat, tmat, offs_bone); } else if (bone->flag & BONE_NO_SCALE) { /* Parent pose rotation and rest scale (i.e. no scaling). */ float tmat[4][4]; copy_m4_m4(tmat, parchan->pose_mat); normalize_m4(tmat); mul_m4_m4m4(rotscale_mat, tmat, offs_bone); } else mul_m4_m4m4(rotscale_mat, parchan->pose_mat, offs_bone); /* Compose the loc matrix for this bone. */ /* NOTE: That version does not modify bone's loc when HINGE/NO_SCALE options are set. */ /* In this case, use the object's space *orientation*. */ if (bone->flag & BONE_NO_LOCAL_LOCATION) { /* XXX I'm sure that code can be simplified! */ float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4], tmat3[3][3]; unit_m4(bone_loc); unit_m4(loc_mat); unit_m4(tmat4); mul_v3_m4v3(bone_loc[3], parchan->pose_mat, offs_bone[3]); unit_m3(bone_rotscale); copy_m3_m4(tmat3, parchan->pose_mat); mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); copy_m4_m3(tmat4, bone_rotscale); mul_m4_m4m4(loc_mat, bone_loc, tmat4); } /* Those flags do not affect position, use plain parent transform space! */ else if (bone->flag & (BONE_HINGE | BONE_NO_SCALE)) { mul_m4_m4m4(loc_mat, parchan->pose_mat, offs_bone); } /* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */ else copy_m4_m4(loc_mat, rotscale_mat); } /* Root bones. */ else { /* Rotation/scaling. */ copy_m4_m4(rotscale_mat, pchan->bone->arm_mat); /* Translation. */ if (pchan->bone->flag & BONE_NO_LOCAL_LOCATION) { /* Translation of arm_mat, without the rotation. */ unit_m4(loc_mat); copy_v3_v3(loc_mat[3], pchan->bone->arm_mat[3]); } else copy_m4_m4(loc_mat, rotscale_mat); } } /* Convert Pose-Space Matrix to Bone-Space Matrix. * NOTE: this cannot be used to convert to pose-space transforms of the supplied * pose-channel into its local space (i.e. 'visual'-keyframing) */ void BKE_armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[4][4], float outmat[4][4]) { float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4]; /* Security, this allows to call with inmat == outmat! */ copy_m4_m4(inmat_, inmat); BKE_pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); invert_m4(rotscale_mat); invert_m4(loc_mat); mul_m4_m4m4(outmat, rotscale_mat, inmat_); mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]); } /* Convert Bone-Space Matrix to Pose-Space Matrix. */ void BKE_armature_mat_bone_to_pose(bPoseChannel *pchan, float inmat[4][4], float outmat[4][4]) { float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4]; /* Security, this allows to call with inmat == outmat! */ copy_m4_m4(inmat_, inmat); BKE_pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); mul_m4_m4m4(outmat, rotscale_mat, inmat_); mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]); } /* Convert Pose-Space Location to Bone-Space Location * NOTE: this cannot be used to convert to pose-space location of the supplied * pose-channel into its local space (i.e. 'visual'-keyframing) */ void BKE_armature_loc_pose_to_bone(bPoseChannel *pchan, const float inloc[3], float outloc[3]) { float xLocMat[4][4]; float nLocMat[4][4]; /* build matrix for location */ unit_m4(xLocMat); copy_v3_v3(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ BKE_armature_mat_pose_to_bone(pchan, xLocMat, nLocMat); copy_v3_v3(outloc, nLocMat[3]); } void BKE_armature_mat_pose_to_bone_ex(Object *ob, bPoseChannel *pchan, float inmat[4][4], float outmat[4][4]) { bPoseChannel work_pchan = *pchan; /* recalculate pose matrix with only parent transformations, * bone loc/sca/rot is ignored, scene and frame are not used. */ BKE_pose_where_is_bone(NULL, ob, &work_pchan, 0.0f, false); /* find the matrix, need to remove the bone transforms first so this is * calculated as a matrix to set rather then a difference ontop of whats * already there. */ unit_m4(outmat); BKE_pchan_apply_mat4(&work_pchan, outmat, false); BKE_armature_mat_pose_to_bone(&work_pchan, inmat, outmat); } /* same as BKE_object_mat3_to_rot() */ void BKE_pchan_mat3_to_rot(bPoseChannel *pchan, float mat[3][3], bool use_compat) { BLI_ASSERT_UNIT_M3(mat); switch (pchan->rotmode) { case ROT_MODE_QUAT: mat3_normalized_to_quat(pchan->quat, mat); break; case ROT_MODE_AXISANGLE: mat3_normalized_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat); break; default: /* euler */ if (use_compat) mat3_normalized_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat); else mat3_normalized_to_eulO(pchan->eul, pchan->rotmode, mat); break; } } /* Apply a 4x4 matrix to the pose bone, * similar to BKE_object_apply_mat4() */ void BKE_pchan_apply_mat4(bPoseChannel *pchan, float mat[4][4], bool use_compat) { float rot[3][3]; mat4_to_loc_rot_size(pchan->loc, rot, pchan->size, mat); BKE_pchan_mat3_to_rot(pchan, rot, use_compat); } /* Remove rest-position effects from pose-transform for obtaining * 'visual' transformation of pose-channel. * (used by the Visual-Keyframing stuff) */ void BKE_armature_mat_pose_to_delta(float delta_mat[4][4], float pose_mat[4][4], float arm_mat[4][4]) { float imat[4][4]; invert_m4_m4(imat, arm_mat); mul_m4_m4m4(delta_mat, imat, pose_mat); } /* **************** Rotation Mode Conversions ****************************** */ /* Used for Objects and Pose Channels, since both can have multiple rotation representations */ /* Called from RNA when rotation mode changes * - the result should be that the rotations given in the provided pointers have had conversions * applied (as appropriate), such that the rotation of the element hasn't 'visually' changed */ void BKE_rotMode_change_values(float quat[4], float eul[3], float axis[3], float *angle, short oldMode, short newMode) { /* check if any change - if so, need to convert data */ if (newMode > 0) { /* to euler */ if (oldMode == ROT_MODE_AXISANGLE) { /* axis-angle to euler */ axis_angle_to_eulO(eul, newMode, axis, *angle); } else if (oldMode == ROT_MODE_QUAT) { /* quat to euler */ normalize_qt(quat); quat_to_eulO(eul, newMode, quat); } /* else { no conversion needed } */ } else if (newMode == ROT_MODE_QUAT) { /* to quat */ if (oldMode == ROT_MODE_AXISANGLE) { /* axis angle to quat */ axis_angle_to_quat(quat, axis, *angle); } else if (oldMode > 0) { /* euler to quat */ eulO_to_quat(quat, eul, oldMode); } /* else { no conversion needed } */ } else if (newMode == ROT_MODE_AXISANGLE) { /* to axis-angle */ if (oldMode > 0) { /* euler to axis angle */ eulO_to_axis_angle(axis, angle, eul, oldMode); } else if (oldMode == ROT_MODE_QUAT) { /* quat to axis angle */ normalize_qt(quat); quat_to_axis_angle(axis, angle, quat); } /* when converting to axis-angle, we need a special exception for the case when there is no axis */ if (IS_EQF(axis[0], axis[1]) && IS_EQF(axis[1], axis[2])) { /* for now, rotate around y-axis then (so that it simply becomes the roll) */ axis[1] = 1.0f; } } } /* **************** The new & simple (but OK!) armature evaluation ********* */ /* ****************** And how it works! **************************************** * * This is the bone transformation trick; they're hierarchical so each bone(b) * is in the coord system of bone(b-1): * * arm_mat(b)= arm_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * * -> yoffs is just the y axis translation in parent's coord system * -> d_root is the translation of the bone root, also in parent's coord system * * pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) * * we then - in init deform - store the deform in chan_mat, such that: * * pose_mat(b)= arm_mat(b) * chan_mat(b) * * *************************************************************************** */ /* Computes vector and roll based on a rotation. * "mat" must contain only a rotation, and no scaling. */ void mat3_to_vec_roll(float mat[3][3], float r_vec[3], float *r_roll) { if (r_vec) { copy_v3_v3(r_vec, mat[1]); } if (r_roll) { float vecmat[3][3], vecmatinv[3][3], rollmat[3][3]; vec_roll_to_mat3(mat[1], 0.0f, vecmat); invert_m3_m3(vecmatinv, vecmat); mul_m3_m3m3(rollmat, vecmatinv, mat); *r_roll = atan2f(rollmat[2][0], rollmat[2][2]); } } /* Calculates the rest matrix of a bone based on its vector and a roll around that vector. */ /* Given v = (v.x, v.y, v.z) our (normalized) bone vector, we want the rotation matrix M * from the Y axis (so that M * (0, 1, 0) = v). * -> The rotation axis a lays on XZ plane, and it is orthonormal to v, hence to the projection of v onto XZ plane. * -> a = (v.z, 0, -v.x) * We know a is eigenvector of M (so M * a = a). * Finally, we have w, such that M * w = (0, 1, 0) (i.e. the vector that will be aligned with Y axis once transformed). * We know w is symmetric to v by the Y axis. * -> w = (-v.x, v.y, -v.z) * * Solving this, we get (x, y and z being the components of v): * ┌ (x^2 * y + z^2) / (x^2 + z^2), x, x * z * (y - 1) / (x^2 + z^2) ┐ * M = │ x * (y^2 - 1) / (x^2 + z^2), y, z * (y^2 - 1) / (x^2 + z^2) │ * └ x * z * (y - 1) / (x^2 + z^2), z, (x^2 + z^2 * y) / (x^2 + z^2) ┘ * * This is stable as long as v (the bone) is not too much aligned with +/-Y (i.e. x and z components * are not too close to 0). * * Since v is normalized, we have x^2 + y^2 + z^2 = 1, hence x^2 + z^2 = 1 - y^2 = (1 - y)(1 + y). * This allows to simplifies M like this: * ┌ 1 - x^2 / (1 + y), x, -x * z / (1 + y) ┐ * M = │ -x, y, -z │ * └ -x * z / (1 + y), z, 1 - z^2 / (1 + y) ┘ * * Written this way, we see the case v = +Y is no more a singularity. The only one remaining is the bone being * aligned with -Y. * * Let's handle the asymptotic behavior when bone vector is reaching the limit of y = -1. Each of the four corner * elements can vary from -1 to 1, depending on the axis a chosen for doing the rotation. And the "rotation" here * is in fact established by mirroring XZ plane by that given axis, then inversing the Y-axis. * For sufficiently small x and z, and with y approaching -1, all elements but the four corner ones of M * will degenerate. So let's now focus on these corner elements. * * We rewrite M so that it only contains its four corner elements, and combine the 1 / (1 + y) factor: * ┌ 1 + y - x^2, -x * z ┐ * M* = 1 / (1 + y) * │ │ * └ -x * z, 1 + y - z^2 ┘ * * When y is close to -1, computing 1 / (1 + y) will cause severe numerical instability, so we ignore it and * normalize M instead. We know y^2 = 1 - (x^2 + z^2), and y < 0, hence y = -sqrt(1 - (x^2 + z^2)). * Since x and z are both close to 0, we apply the binomial expansion to the first order: * y = -sqrt(1 - (x^2 + z^2)) = -1 + (x^2 + z^2) / 2. Which gives: * ┌ z^2 - x^2, -2 * x * z ┐ * M* = 1 / (x^2 + z^2) * │ │ * └ -2 * x * z, x^2 - z^2 ┘ */ void vec_roll_to_mat3_normalized(const float nor[3], const float roll, float mat[3][3]) { #define THETA_THRESHOLD_NEGY 1.0e-9f #define THETA_THRESHOLD_NEGY_CLOSE 1.0e-5f float theta; float rMatrix[3][3], bMatrix[3][3]; BLI_ASSERT_UNIT_V3(nor); theta = 1.0f + nor[1]; /* With old algo, 1.0e-13f caused T23954 and T31333, 1.0e-6f caused T27675 and T30438, * so using 1.0e-9f as best compromise. * * New algo is supposed much more precise, since less complex computations are performed, * but it uses two different threshold values... * * Note: When theta is close to zero, we have to check we do have non-null X/Z components as well * (due to float precision errors, we can have nor = (0.0, 0.99999994, 0.0)...). */ if (theta > THETA_THRESHOLD_NEGY_CLOSE || ((nor[0] || nor[2]) && theta > THETA_THRESHOLD_NEGY)) { /* nor is *not* -Y. * We got these values for free... so be happy with it... ;) */ bMatrix[0][1] = -nor[0]; bMatrix[1][0] = nor[0]; bMatrix[1][1] = nor[1]; bMatrix[1][2] = nor[2]; bMatrix[2][1] = -nor[2]; if (theta > THETA_THRESHOLD_NEGY_CLOSE) { /* If nor is far enough from -Y, apply the general case. */ bMatrix[0][0] = 1 - nor[0] * nor[0] / theta; bMatrix[2][2] = 1 - nor[2] * nor[2] / theta; bMatrix[2][0] = bMatrix[0][2] = -nor[0] * nor[2] / theta; } else { /* If nor is too close to -Y, apply the special case. */ theta = nor[0] * nor[0] + nor[2] * nor[2]; bMatrix[0][0] = (nor[0] + nor[2]) * (nor[0] - nor[2]) / -theta; bMatrix[2][2] = -bMatrix[0][0]; bMatrix[2][0] = bMatrix[0][2] = 2.0f * nor[0] * nor[2] / theta; } } else { /* If nor is -Y, simple symmetry by Z axis. */ unit_m3(bMatrix); bMatrix[0][0] = bMatrix[1][1] = -1.0; } /* Make Roll matrix */ axis_angle_normalized_to_mat3(rMatrix, nor, roll); /* Combine and output result */ mul_m3_m3m3(mat, rMatrix, bMatrix); #undef THETA_THRESHOLD_NEGY #undef THETA_THRESHOLD_NEGY_CLOSE } void vec_roll_to_mat3(const float vec[3], const float roll, float mat[3][3]) { float nor[3]; normalize_v3_v3(nor, vec); vec_roll_to_mat3_normalized(nor, roll, mat); } /* recursive part, calculates restposition of entire tree of children */ /* used by exiting editmode too */ void BKE_armature_where_is_bone(Bone *bone, Bone *prevbone, const bool use_recursion) { float vec[3]; /* Bone Space */ sub_v3_v3v3(vec, bone->tail, bone->head); bone->length = len_v3(vec); vec_roll_to_mat3(vec, bone->roll, bone->bone_mat); /* this is called on old file reading too... */ if (bone->xwidth == 0.0f) { bone->xwidth = 0.1f; bone->zwidth = 0.1f; bone->segments = 1; } if (prevbone) { float offs_bone[4][4]; /* yoffs(b-1) + root(b) + bonemat(b) */ get_offset_bone_mat(bone, offs_bone); /* Compose the matrix for this bone */ mul_m4_m4m4(bone->arm_mat, prevbone->arm_mat, offs_bone); } else { copy_m4_m3(bone->arm_mat, bone->bone_mat); copy_v3_v3(bone->arm_mat[3], bone->head); } /* and the kiddies */ if (use_recursion) { prevbone = bone; for (bone = bone->childbase.first; bone; bone = bone->next) { BKE_armature_where_is_bone(bone, prevbone, use_recursion); } } } /* updates vectors and matrices on rest-position level, only needed * after editing armature itself, now only on reading file */ void BKE_armature_where_is(bArmature *arm) { Bone *bone; /* hierarchical from root to children */ for (bone = arm->bonebase.first; bone; bone = bone->next) { BKE_armature_where_is_bone(bone, NULL, true); } } /* if bone layer is protected, copy the data from from->pose * when used with linked libraries this copies from the linked pose into the local pose */ static void pose_proxy_synchronize(Object *ob, Object *from, int layer_protected) { bPose *pose = ob->pose, *frompose = from->pose; bPoseChannel *pchan, *pchanp; bConstraint *con; int error = 0; if (frompose == NULL) return; /* in some cases when rigs change, we cant synchronize * to avoid crashing check for possible errors here */ for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) { if (pchan->bone->layer & layer_protected) { if (BKE_pose_channel_find_name(frompose, pchan->name) == NULL) { printf("failed to sync proxy armature because '%s' is missing pose channel '%s'\n", from->id.name, pchan->name); error = 1; } } } if (error) return; /* clear all transformation values from library */ BKE_pose_rest(frompose); /* copy over all of the proxy's bone groups */ /* TODO for later * - implement 'local' bone groups as for constraints * Note: this isn't trivial, as bones reference groups by index not by pointer, * so syncing things correctly needs careful attention */ BLI_freelistN(&pose->agroups); BLI_duplicatelist(&pose->agroups, &frompose->agroups); pose->active_group = frompose->active_group; for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) { pchanp = BKE_pose_channel_find_name(frompose, pchan->name); if (UNLIKELY(pchanp == NULL)) { /* happens for proxies that become invalid because of a missing link * for regular cases it shouldn't happen at all */ } else if (pchan->bone->layer & layer_protected) { ListBase proxylocal_constraints = {NULL, NULL}; bPoseChannel pchanw; /* copy posechannel to temp, but restore important pointers */ pchanw = *pchanp; pchanw.bone = pchan->bone; pchanw.prev = pchan->prev; pchanw.next = pchan->next; pchanw.parent = pchan->parent; pchanw.child = pchan->child; pchanw.custom_tx = pchan->custom_tx; pchanw.mpath = pchan->mpath; pchan->mpath = NULL; /* this is freed so copy a copy, else undo crashes */ if (pchanw.prop) { pchanw.prop = IDP_CopyProperty(pchanw.prop); /* use the values from the existing props */ if (pchan->prop) { IDP_SyncGroupValues(pchanw.prop, pchan->prop); } } /* constraints - proxy constraints are flushed... local ones are added after * 1. extract constraints not from proxy (CONSTRAINT_PROXY_LOCAL) from pchan's constraints * 2. copy proxy-pchan's constraints on-to new * 3. add extracted local constraints back on top * * Note for BKE_constraints_copy: when copying constraints, disable 'do_extern' otherwise * we get the libs direct linked in this blend. */ BKE_constraints_proxylocal_extract(&proxylocal_constraints, &pchan->constraints); BKE_constraints_copy(&pchanw.constraints, &pchanp->constraints, false); BLI_movelisttolist(&pchanw.constraints, &proxylocal_constraints); /* constraints - set target ob pointer to own object */ for (con = pchanw.constraints.first; con; con = con->next) { const bConstraintTypeInfo *cti = BKE_constraint_typeinfo_get(con); ListBase targets = {NULL, NULL}; bConstraintTarget *ct; if (cti && cti->get_constraint_targets) { cti->get_constraint_targets(con, &targets); for (ct = targets.first; ct; ct = ct->next) { if (ct->tar == from) ct->tar = ob; } if (cti->flush_constraint_targets) cti->flush_constraint_targets(con, &targets, 0); } } /* free stuff from current channel */ BKE_pose_channel_free(pchan); /* copy data in temp back over to the cleaned-out (but still allocated) original channel */ *pchan = pchanw; if (pchan->custom) { id_us_plus(&pchan->custom->id); } } else { /* always copy custom shape */ pchan->custom = pchanp->custom; if (pchan->custom) { id_us_plus(&pchan->custom->id); } if (pchanp->custom_tx) pchan->custom_tx = BKE_pose_channel_find_name(pose, pchanp->custom_tx->name); /* ID-Property Syncing */ { IDProperty *prop_orig = pchan->prop; if (pchanp->prop) { pchan->prop = IDP_CopyProperty(pchanp->prop); if (prop_orig) { /* copy existing values across when types match */ IDP_SyncGroupValues(pchan->prop, prop_orig); } } else { pchan->prop = NULL; } if (prop_orig) { IDP_FreeProperty(prop_orig); MEM_freeN(prop_orig); } } } } } static int rebuild_pose_bone(bPose *pose, Bone *bone, bPoseChannel *parchan, int counter) { bPoseChannel *pchan = BKE_pose_channel_verify(pose, bone->name); /* verify checks and/or adds */ pchan->bone = bone; pchan->parent = parchan; counter++; for (bone = bone->childbase.first; bone; bone = bone->next) { counter = rebuild_pose_bone(pose, bone, pchan, counter); /* for quick detecting of next bone in chain, only b-bone uses it now */ if (bone->flag & BONE_CONNECTED) pchan->child = BKE_pose_channel_find_name(pose, bone->name); } return counter; } /** * Clear pointers of object's pose (needed in remap case, since we cannot always wait for a complete pose rebuild). */ void BKE_pose_clear_pointers(bPose *pose) { for (bPoseChannel *pchan = pose->chanbase.first; pchan; pchan = pchan->next) { pchan->bone = NULL; pchan->child = NULL; } } /* only after leave editmode, duplicating, validating older files, library syncing */ /* NOTE: pose->flag is set for it */ void BKE_pose_rebuild_ex(Object *ob, bArmature *arm, const bool sort_bones) { Bone *bone; bPose *pose; bPoseChannel *pchan, *next; int counter = 0; /* only done here */ if (ob->pose == NULL) { /* create new pose */ ob->pose = MEM_callocN(sizeof(bPose), "new pose"); /* set default settings for animviz */ animviz_settings_init(&ob->pose->avs); } pose = ob->pose; /* clear */ BKE_pose_clear_pointers(pose); /* first step, check if all channels are there */ for (bone = arm->bonebase.first; bone; bone = bone->next) { counter = rebuild_pose_bone(pose, bone, NULL, counter); } /* and a check for garbage */ for (pchan = pose->chanbase.first; pchan; pchan = next) { next = pchan->next; if (pchan->bone == NULL) { BKE_pose_channel_free(pchan); BKE_pose_channels_hash_free(pose); BLI_freelinkN(&pose->chanbase, pchan); } } /* printf("rebuild pose %s, %d bones\n", ob->id.name, counter); */ /* synchronize protected layers with proxy */ if (ob->proxy) { BKE_object_copy_proxy_drivers(ob, ob->proxy); pose_proxy_synchronize(ob, ob->proxy, arm->layer_protected); } BKE_pose_update_constraint_flags(ob->pose); /* for IK detection for example */ #ifdef WITH_LEGACY_DEPSGRAPH /* the sorting */ /* Sorting for new dependnecy graph is done on the scene graph level. */ if (counter > 1 && sort_bones) { DAG_pose_sort(ob); } #endif ob->pose->flag &= ~POSE_RECALC; ob->pose->flag |= POSE_WAS_REBUILT; BKE_pose_channels_hash_make(ob->pose); } void BKE_pose_rebuild(Object *ob, bArmature *arm) { BKE_pose_rebuild_ex(ob, arm, true); } /* ********************** THE POSE SOLVER ******************* */ /* loc/rot/size to given mat4 */ void BKE_pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4]) { float smat[3][3]; float rmat[3][3]; float tmat[3][3]; /* get scaling matrix */ size_to_mat3(smat, pchan->size); /* rotations may either be quats, eulers (with various rotation orders), or axis-angle */ if (pchan->rotmode > 0) { /* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */ eulO_to_mat3(rmat, pchan->eul, pchan->rotmode); } else if (pchan->rotmode == ROT_MODE_AXISANGLE) { /* axis-angle - not really that great for 3D-changing orientations */ axis_angle_to_mat3(rmat, pchan->rotAxis, pchan->rotAngle); } else { /* quats are normalized before use to eliminate scaling issues */ float quat[4]; /* NOTE: we now don't normalize the stored values anymore, since this was kindof evil in some cases * but if this proves to be too problematic, switch back to the old system of operating directly on * the stored copy */ normalize_qt_qt(quat, pchan->quat); quat_to_mat3(rmat, quat); } /* calculate matrix of bone (as 3x3 matrix, but then copy the 4x4) */ mul_m3_m3m3(tmat, rmat, smat); copy_m4_m3(chan_mat, tmat); /* prevent action channels breaking chains */ /* need to check for bone here, CONSTRAINT_TYPE_ACTION uses this call */ if ((pchan->bone == NULL) || !(pchan->bone->flag & BONE_CONNECTED)) { copy_v3_v3(chan_mat[3], pchan->loc); } } /* loc/rot/size to mat4 */ /* used in constraint.c too */ void BKE_pchan_calc_mat(bPoseChannel *pchan) { /* this is just a wrapper around the copy of this function which calculates the matrix * and stores the result in any given channel */ BKE_pchan_to_mat4(pchan, pchan->chan_mat); } #if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */ /* NLA strip modifiers */ static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseChannel *pchan) { bActionModifier *amod; bActionStrip *strip, *strip2; float scene_cfra = BKE_scene_frame_get(scene); int do_modif; for (strip = armob->nlastrips.first; strip; strip = strip->next) { do_modif = false; if (scene_cfra >= strip->start && scene_cfra <= strip->end) do_modif = true; if ((scene_cfra > strip->end) && (strip->flag & ACTSTRIP_HOLDLASTFRAME)) { do_modif = true; /* if there are any other strips active, ignore modifiers for this strip - * 'hold' option should only hold action modifiers if there are * no other active strips */ for (strip2 = strip->next; strip2; strip2 = strip2->next) { if (strip2 == strip) continue; if (scene_cfra >= strip2->start && scene_cfra <= strip2->end) { if (!(strip2->flag & ACTSTRIP_MUTE)) do_modif = false; } } /* if there are any later, activated, strips with 'hold' set, they take precedence, * so ignore modifiers for this strip */ for (strip2 = strip->next; strip2; strip2 = strip2->next) { if (scene_cfra < strip2->start) continue; if ((strip2->flag & ACTSTRIP_HOLDLASTFRAME) && !(strip2->flag & ACTSTRIP_MUTE)) { do_modif = false; } } } if (do_modif) { /* temporal solution to prevent 2 strips accumulating */ if (scene_cfra == strip->end && strip->next && strip->next->start == scene_cfra) continue; for (amod = strip->modifiers.first; amod; amod = amod->next) { switch (amod->type) { case ACTSTRIP_MOD_DEFORM: { /* validate first */ if (amod->ob && amod->ob->type == OB_CURVE && amod->channel[0]) { if (STREQ(pchan->name, amod->channel)) { float mat4[4][4], mat3[3][3]; curve_deform_vector(scene, amod->ob, armob, bone->arm_mat[3], pchan->pose_mat[3], mat3, amod->no_rot_axis); copy_m4_m4(mat4, pchan->pose_mat); mul_m4_m3m4(pchan->pose_mat, mat3, mat4); } } } break; case ACTSTRIP_MOD_NOISE: { if (STREQ(pchan->name, amod->channel)) { float nor[3], loc[3], ofs; float eul[3], size[3], eulo[3], sizeo[3]; /* calculate turbulance */ ofs = amod->turbul / 200.0f; /* make a copy of starting conditions */ copy_v3_v3(loc, pchan->pose_mat[3]); mat4_to_eul(eul, pchan->pose_mat); mat4_to_size(size, pchan->pose_mat); copy_v3_v3(eulo, eul); copy_v3_v3(sizeo, size); /* apply noise to each set of channels */ if (amod->channels & 4) { /* for scaling */ nor[0] = BLI_gNoise(amod->noisesize, size[0] + ofs, size[1], size[2], 0, 0) - ofs; nor[1] = BLI_gNoise(amod->noisesize, size[0], size[1] + ofs, size[2], 0, 0) - ofs; nor[2] = BLI_gNoise(amod->noisesize, size[0], size[1], size[2] + ofs, 0, 0) - ofs; add_v3_v3(size, nor); if (sizeo[0] != 0) mul_v3_fl(pchan->pose_mat[0], size[0] / sizeo[0]); if (sizeo[1] != 0) mul_v3_fl(pchan->pose_mat[1], size[1] / sizeo[1]); if (sizeo[2] != 0) mul_v3_fl(pchan->pose_mat[2], size[2] / sizeo[2]); } if (amod->channels & 2) { /* for rotation */ nor[0] = BLI_gNoise(amod->noisesize, eul[0] + ofs, eul[1], eul[2], 0, 0) - ofs; nor[1] = BLI_gNoise(amod->noisesize, eul[0], eul[1] + ofs, eul[2], 0, 0) - ofs; nor[2] = BLI_gNoise(amod->noisesize, eul[0], eul[1], eul[2] + ofs, 0, 0) - ofs; compatible_eul(nor, eulo); add_v3_v3(eul, nor); compatible_eul(eul, eulo); loc_eul_size_to_mat4(pchan->pose_mat, loc, eul, size); } if (amod->channels & 1) { /* for location */ nor[0] = BLI_gNoise(amod->noisesize, loc[0] + ofs, loc[1], loc[2], 0, 0) - ofs; nor[1] = BLI_gNoise(amod->noisesize, loc[0], loc[1] + ofs, loc[2], 0, 0) - ofs; nor[2] = BLI_gNoise(amod->noisesize, loc[0], loc[1], loc[2] + ofs, 0, 0) - ofs; add_v3_v3v3(pchan->pose_mat[3], loc, nor); } } } break; } } } } } #endif /* calculate tail of posechannel */ void BKE_pose_where_is_bone_tail(bPoseChannel *pchan) { float vec[3]; copy_v3_v3(vec, pchan->pose_mat[1]); mul_v3_fl(vec, pchan->bone->length); add_v3_v3v3(pchan->pose_tail, pchan->pose_head, vec); } /* The main armature solver, does all constraints excluding IK */ /* pchan is validated, as having bone and parent pointer * 'do_extra': when zero skips loc/size/rot, constraints and strip modifiers. */ void BKE_pose_where_is_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float ctime, bool do_extra) { /* This gives a chan_mat with actions (ipos) results. */ if (do_extra) BKE_pchan_calc_mat(pchan); else unit_m4(pchan->chan_mat); /* Construct the posemat based on PoseChannels, that we do before applying constraints. */ /* pose_mat(b) = pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) */ BKE_armature_mat_bone_to_pose(pchan, pchan->chan_mat, pchan->pose_mat); /* Only rootbones get the cyclic offset (unless user doesn't want that). */ /* XXX That could be a problem for snapping and other "reverse transform" features... */ if (!pchan->parent) { if ((pchan->bone->flag & BONE_NO_CYCLICOFFSET) == 0) add_v3_v3(pchan->pose_mat[3], ob->pose->cyclic_offset); } if (do_extra) { #if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */ /* do NLA strip modifiers - i.e. curve follow */ do_strip_modifiers(scene, ob, bone, pchan); #endif /* Do constraints */ if (pchan->constraints.first) { bConstraintOb *cob; float vec[3]; /* make a copy of location of PoseChannel for later */ copy_v3_v3(vec, pchan->pose_mat[3]); /* prepare PoseChannel for Constraint solving * - makes a copy of matrix, and creates temporary struct to use */ cob = BKE_constraints_make_evalob(scene, ob, pchan, CONSTRAINT_OBTYPE_BONE); /* Solve PoseChannel's Constraints */ BKE_constraints_solve(&pchan->constraints, cob, ctime); /* ctime doesnt alter objects */ /* cleanup after Constraint Solving * - applies matrix back to pchan, and frees temporary struct used */ BKE_constraints_clear_evalob(cob); /* prevent constraints breaking a chain */ if (pchan->bone->flag & BONE_CONNECTED) { copy_v3_v3(pchan->pose_mat[3], vec); } } } /* calculate head */ copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]); /* calculate tail */ BKE_pose_where_is_bone_tail(pchan); } /* This only reads anim data from channels, and writes to channels */ /* This is the only function adding poses */ void BKE_pose_where_is(Scene *scene, Object *ob) { bArmature *arm; Bone *bone; bPoseChannel *pchan; float imat[4][4]; float ctime; if (ob->type != OB_ARMATURE) return; arm = ob->data; if (ELEM(NULL, arm, scene)) return; if ((ob->pose == NULL) || (ob->pose->flag & POSE_RECALC)) BKE_pose_rebuild(ob, arm); ctime = BKE_scene_frame_get(scene); /* not accurate... */ /* In editmode or restposition we read the data from the bones */ if (arm->edbo || (arm->flag & ARM_RESTPOS)) { for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { bone = pchan->bone; if (bone) { copy_m4_m4(pchan->pose_mat, bone->arm_mat); copy_v3_v3(pchan->pose_head, bone->arm_head); copy_v3_v3(pchan->pose_tail, bone->arm_tail); } } } else { invert_m4_m4(ob->imat, ob->obmat); /* imat is needed */ /* 1. clear flags */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { pchan->flag &= ~(POSE_DONE | POSE_CHAIN | POSE_IKTREE | POSE_IKSPLINE); } /* 2a. construct the IK tree (standard IK) */ BIK_initialize_tree(scene, ob, ctime); /* 2b. construct the Spline IK trees * - this is not integrated as an IK plugin, since it should be able * to function in conjunction with standard IK */ BKE_pose_splineik_init_tree(scene, ob, ctime); /* 3. the main loop, channels are already hierarchical sorted from root to children */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { /* 4a. if we find an IK root, we handle it separated */ if (pchan->flag & POSE_IKTREE) { BIK_execute_tree(scene, ob, pchan, ctime); } /* 4b. if we find a Spline IK root, we handle it separated too */ else if (pchan->flag & POSE_IKSPLINE) { BKE_splineik_execute_tree(scene, ob, pchan, ctime); } /* 5. otherwise just call the normal solver */ else if (!(pchan->flag & POSE_DONE)) { BKE_pose_where_is_bone(scene, ob, pchan, ctime, 1); } } /* 6. release the IK tree */ BIK_release_tree(scene, ob, ctime); } /* calculating deform matrices */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { if (pchan->bone) { invert_m4_m4(imat, pchan->bone->arm_mat); mul_m4_m4m4(pchan->chan_mat, pchan->pose_mat, imat); } } } /************** Bounding box ********************/ static int minmax_armature(Object *ob, float r_min[3], float r_max[3]) { bPoseChannel *pchan; /* For now, we assume BKE_pose_where_is has already been called (hence we have valid data in pachan). */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { minmax_v3v3_v3(r_min, r_max, pchan->pose_head); minmax_v3v3_v3(r_min, r_max, pchan->pose_tail); } return (BLI_listbase_is_empty(&ob->pose->chanbase) == false); } static void boundbox_armature(Object *ob) { BoundBox *bb; float min[3], max[3]; if (ob->bb == NULL) { ob->bb = MEM_callocN(sizeof(BoundBox), "Armature boundbox"); } bb = ob->bb; INIT_MINMAX(min, max); if (!minmax_armature(ob, min, max)) { min[0] = min[1] = min[2] = -1.0f; max[0] = max[1] = max[2] = 1.0f; } BKE_boundbox_init_from_minmax(bb, min, max); bb->flag &= ~BOUNDBOX_DIRTY; } BoundBox *BKE_armature_boundbox_get(Object *ob) { boundbox_armature(ob); return ob->bb; } bool BKE_pose_minmax(Object *ob, float r_min[3], float r_max[3], bool use_hidden, bool use_select) { bool changed = false; if (ob->pose) { bArmature *arm = ob->data; bPoseChannel *pchan; for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { /* XXX pchan->bone may be NULL for duplicated bones, see duplicateEditBoneObjects() comment * (editarmature.c:2592)... Skip in this case too! */ if (pchan->bone && (!((use_hidden == false) && (PBONE_VISIBLE(arm, pchan->bone) == false)) && !((use_select == true) && ((pchan->bone->flag & BONE_SELECTED) == 0)))) { bPoseChannel *pchan_tx = (pchan->custom && pchan->custom_tx) ? pchan->custom_tx : pchan; BoundBox *bb_custom = ((pchan->custom) && !(arm->flag & ARM_NO_CUSTOM)) ? BKE_object_boundbox_get(pchan->custom) : NULL; if (bb_custom) { float mat[4][4], smat[4][4]; scale_m4_fl(smat, PCHAN_CUSTOM_DRAW_SIZE(pchan)); mul_m4_series(mat, ob->obmat, pchan_tx->pose_mat, smat); BKE_boundbox_minmax(bb_custom, mat, r_min, r_max); } else { float vec[3]; mul_v3_m4v3(vec, ob->obmat, pchan_tx->pose_head); minmax_v3v3_v3(r_min, r_max, vec); mul_v3_m4v3(vec, ob->obmat, pchan_tx->pose_tail); minmax_v3v3_v3(r_min, r_max, vec); } changed = true; } } } return changed; } /************** Graph evaluation ********************/ bPoseChannel *BKE_armature_ik_solver_find_root( bPoseChannel *pchan, bKinematicConstraint *data) { bPoseChannel *rootchan = pchan; if (!(data->flag & CONSTRAINT_IK_TIP)) { /* Exclude tip from chain. */ rootchan = rootchan->parent; } if (rootchan != NULL) { int segcount = 0; while (rootchan->parent) { /* Continue up chain, until we reach target number of items. */ segcount++; if (segcount == data->rootbone) { break; } rootchan = rootchan->parent; } } return rootchan; } bPoseChannel *BKE_armature_splineik_solver_find_root( bPoseChannel *pchan, bSplineIKConstraint *data) { bPoseChannel *rootchan = pchan; int segcount = 0; BLI_assert(rootchan != NULL); while (rootchan->parent) { /* Continue up chain, until we reach target number of items. */ segcount++; if (segcount == data->chainlen) { break; } rootchan = rootchan->parent; } return rootchan; }