/* * ***** 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_bpath.h" #include "BLI_math.h" #include "BLI_blenlib.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_meshdata_types.h" #include "DNA_nla_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_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 *add_armature(const char *name) { bArmature *arm; arm = alloc_libblock (&G.main->armature, ID_AR, name); arm->deformflag = ARM_DEF_VGROUP|ARM_DEF_ENVELOPE; arm->flag = ARM_COL_CUSTOM; /* custom bone-group colors */ arm->layer = 1; return arm; } bArmature *get_armature(Object *ob) { if (ob->type == OB_ARMATURE) return (bArmature *)ob->data; return NULL; } void free_bonelist(ListBase *lb) { Bone *bone; for (bone = lb->first; bone; bone = bone->next) { if (bone->prop) { IDP_FreeProperty(bone->prop); MEM_freeN(bone->prop); } free_bonelist(&bone->childbase); } BLI_freelistN(lb); } void free_armature(bArmature *arm) { if (arm) { free_bonelist(&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; } /* free animation data */ if (arm->adt) { BKE_free_animdata(&arm->id); arm->adt = NULL; } } } void make_local_armature(bArmature *arm) { Main *bmain = G.main; int is_local = FALSE, is_lib = FALSE; Object *ob; if (arm->id.lib == NULL) return; if (arm->id.us == 1) { id_clear_lib_data(bmain, &arm->id); return; } for (ob = bmain->object.first; ob && ELEM(0, is_lib, is_local); ob = ob->id.next) { if (ob->data == arm) { if (ob->id.lib) is_lib = TRUE; else is_local = TRUE; } } if (is_local && is_lib == FALSE) { id_clear_lib_data(bmain, &arm->id); } else if (is_local && is_lib) { bArmature *arm_new = copy_armature(arm); arm_new->id.us = 0; /* Remap paths of new ID using old library as base. */ BKE_id_lib_local_paths(bmain, arm->id.lib, &arm_new->id); for (ob = bmain->object.first; ob; ob = ob->id.next) { if (ob->data == arm) { if (ob->id.lib == NULL) { ob->data = arm_new; arm_new->id.us++; arm->id.us--; } } } } } 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 *copy_armature(bArmature *arm) { bArmature *newArm; Bone *oldBone, *newBone; Bone *newActBone= NULL; newArm = copy_libblock(&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; return newArm; } static Bone *get_named_bone_bonechildren(Bone *bone, const char *name) { Bone *curBone, *rbone; if (!strcmp(bone->name, name)) return bone; for (curBone = bone->childbase.first; curBone; curBone = curBone->next) { rbone = get_named_bone_bonechildren(curBone, name); if (rbone) return rbone; } return NULL; } /* Walk the list until the bone is found */ Bone *get_named_bone(bArmature *arm, const char *name) { Bone *bone = NULL, *curBone; if (!arm) return NULL; for (curBone = arm->bonebase.first; curBone; curBone = curBone->next) { bone = get_named_bone_bonechildren(curBone, name); if (bone) return bone; } return bone; } /* 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_EQ(head, 0)) { 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_EQ(head, 0)) { 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_EQ(head, 0)) { 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]) { int change = 1; while (change) { /* remove extensions */ change = 0; if (len > 2 && basename[len-2] == '.') { if (basename[len-1] == 'L' || basename[len-1] == 'R') { /* L R */ basename[len-2] = '\0'; len -= 2; change = 1; } } 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; change = 1; } } 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; change = 1; } } } 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 ******************* */ #define MAX_BBONE_SUBDIV 32 /* data has MAX_BBONE_SUBDIV+1 interpolated points, will become desired amount with equal distances */ static void equalize_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 ((dist >= pdist[nr]) && nr < MAX_BBONE_SUBDIV) 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 */ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest) { static Mat4 bbone_array[MAX_BBONE_SUBDIV]; static Mat4 bbone_rest_array[MAX_BBONE_SUBDIV]; Mat4 *result_array = (rest) ? bbone_rest_array : bbone_array; bPoseChannel *next, *prev; Bone *bone = pchan->bone; float h1[3], h2[3], scale[3], length, hlength1, hlength2, 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, doscale = 0; length = bone->length; if (!rest) { /* check if we need to take non-uniform bone scaling into account */ scale[0] = len_v3(pchan->pose_mat[0]); scale[1] = len_v3(pchan->pose_mat[1]); scale[2] = len_v3(pchan->pose_mat[2]); if (fabsf(scale[0] - scale[1]) > 1e-6f || fabsf(scale[1] - scale[2]) > 1e-6f) { unit_m4(scalemat); scalemat[0][0] = scale[0]; scalemat[1][1] = scale[1]; scalemat[2][2] = scale[2]; invert_m4_m4(iscalemat, scalemat); length *= scale[1]; doscale = 1; } } hlength1 = bone->ease1*length*0.390464f; /* 0.5*sqrt(2)*kappa, the handle length for near-perfect circles */ hlength2 = bone->ease2*length*0.390464f; /* 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 (doscale) { 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 (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); mul_v3_fl(h1, -hlength1); if (prev->bone->segments == 1) { /* find the previous roll to interpolate */ if (rest) mult_m4_m4m4(difmat, imat, prev->bone->arm_mat); else mult_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 = (float)atan2(mat3[2][0], mat3[2][2]); } } else { h1[0] = 0.0f; h1[1] = hlength1; 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 (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) ; else h2[1]-= length; normalize_v3(h2); /* find the next roll to interpolate as well */ if (rest) mult_m4_m4m4(difmat, imat, next->bone->arm_mat); else mult_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 = (float)atan2(mat3[2][0], mat3[2][2]); /* and only now negate handle */ mul_v3_fl(h2, -hlength2); } else { h2[0] = 0.0f; h2[1] = -hlength2; h2[2] = 0.0f; roll2 = 0.0; } /* make curve */ if (bone->segments > MAX_BBONE_SUBDIV) bone->segments = MAX_BBONE_SUBDIV; forward_diff_bezier(0.0, h1[0], h2[0], 0.0, data[0], MAX_BBONE_SUBDIV, 4*sizeof(float)); forward_diff_bezier(0.0, h1[1], length + h2[1], length, data[0]+1, MAX_BBONE_SUBDIV, 4*sizeof(float)); forward_diff_bezier(0.0, h1[2], h2[2], 0.0, data[0]+2, MAX_BBONE_SUBDIV, 4*sizeof(float)); 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_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 (doscale) { /* correct for scaling when this matrix is used in scaled space */ mul_serie_m4(result_array[a].mat, iscalemat, result_array[a].mat, scalemat, NULL, NULL, NULL, NULL, NULL); } } return result_array; } /* ************ 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, int use_quaternion) { Bone *bone = pchan->bone; Mat4 *b_bone = b_bone_spline_setup(pchan, 0); Mat4 *b_bone_rest = b_bone_spline_setup(pchan, 1); Mat4 *b_bone_mats; DualQuat *b_bone_dual_quats = NULL; float tmat[4][4] = MAT4_UNITY; int a; /* 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++) { invert_m4_m4(tmat, b_bone_rest[a].mat); mul_serie_m4(b_bone_mats[a+1].mat, pchan->chan_mat, bone->arm_mat, b_bone[a].mat, tmat, b_bone_mats[0].mat, NULL, NULL, NULL); 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]) { 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 = 0.0f; 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 = dot_v3v3(pdelta, pdelta); if (a < 0.0f) { /* If we're past the end of the bone, do a spherical field attenuation thing */ dist = 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 = len_squared_v3v3(b2, vec); rad = rad2; } else { dist = (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 < a) return 1.0f; else { l = rad+rdist; l *= l; if (rdist == 0.0f || dist >= l) return 0.0f; else { a = sqrtf(dist)-rad; return 1.0f-( a*a )/( rdist*rdist ); } } } static void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonemat[][3], float mat[][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], float *co) { 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], float *co, 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; } 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 short use_envelope = deformflag & ARM_DEF_ENVELOPE; const short use_quaternion = deformflag & ARM_DEF_QUATERNION; const short invert_vgroup = deformflag & ARM_DEF_INVERT_VGROUP; int defbase_tot = 0; /* safety for vertexgroup index overflow */ int i, target_totvert = 0; /* safety for vertexgroup overflow */ int use_dverts = 0; int armature_def_nr; int totchan; if (arm->edbo) return; invert_m4_m4(obinv, target->obmat); copy_m4_m4(premat, target->obmat); mult_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_countlist(&armOb->pose->chanbase); if (use_quaternion) { dualquats = MEM_callocN(sizeof(DualQuat)*totchan, "dualquats"); } pdef_info_array = MEM_callocN(sizeof(bPoseChanDeform)*totchan, "bPoseChanDeform"); totchan = 0; pdef_info = pdef_info_array; for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) { if (!(pchan->bone->flag & BONE_NO_DEFORM)) { if (pchan->bone->segments > 1) pchan_b_bone_defmats(pchan, pdef_info, use_quaternion); if (use_quaternion) { pdef_info->dual_quat = &dualquats[totchan++]; mat4_to_dquat(pdef_info->dual_quat, pchan->bone->arm_mat, pchan->chan_mat); } } } /* 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_countlist(&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) if (dm->getVertData(dm, 0, CD_MDEFORMVERT)) use_dverts = 1; else use_dverts = 0; else if (dverts) use_dverts = 1; if (use_dverts) { defnrToPC = MEM_callocN(sizeof(*defnrToPC) * defbase_tot, "defnrToBone"); defnrToPCIndex = MEM_callocN(sizeof(*defnrToPCIndex) * defbase_tot, "defnrToIndex"); for (i = 0, dg = target->defbase.first; dg; i++, dg = dg->next) { defnrToPC[i] = get_pose_channel(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] = BLI_findindex(&armOb->pose->chanbase, defnrToPC[i]); } } } } } } 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 >= 0) { 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 >= 0 && 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 < 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_serie_m3(defMats[i], tmpmat, pre, smat, post, NULL, NULL, NULL, NULL); } } /* 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], 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 armature_mat_world_to_pose(Object *ob, float inmat[][4], float outmat[][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 */ mult_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 armature_loc_world_to_pose(Object *ob, const float inloc[3], float outloc[3]) { float xLocMat[4][4] = MAT4_UNITY; float nLocMat[4][4]; /* build matrix for location */ copy_v3_v3(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ 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]) { if (!bone->parent) return; /* 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 pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float loc_mat[][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. */ mult_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. */ mult_m4_m4m4(tmat, tmat, parbone->arm_mat); mult_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); mult_m4_m4m4(rotscale_mat, tmat, offs_bone); } else mult_m4_m4m4(rotscale_mat, parchan->pose_mat, offs_bone); # if 1 /* Compose the loc matrix for this bone. */ /* NOTE: That version deos 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); mult_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)) { mult_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); # endif # if 0 /* Compose the loc matrix for this bone. */ /* NOTE: That version modifies bone's loc when HINGE/NO_SCALE options are set. */ /* In these cases we need to compute location separately */ if (bone->flag & (BONE_HINGE|BONE_NO_SCALE|BONE_NO_LOCAL_LOCATION)) { 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]); /* "No local location" is not transformed by bone matrix. */ /* This only affects orientations (rotations), as scale is always 1.0 here. */ if (bone->flag & BONE_NO_LOCAL_LOCATION) unit_m3(bone_rotscale); else /* We could also use bone->bone_mat directly, here... */ copy_m3_m4(bone_rotscale, offs_bone); if (bone->flag & BONE_HINGE) { copy_m3_m4(tmat3, parbone->arm_mat); /* for hinge-only, we use armature *rotation*, but pose mat *scale*! */ if (!(bone->flag & BONE_NO_SCALE)) { float size[3], tsmat[3][3]; mat4_to_size(size, parchan->pose_mat); size_to_mat3(tsmat, size); mul_m3_m3m3(tmat3, tsmat, tmat3); } mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); } else if (bone->flag & BONE_NO_SCALE) { /* For no-scale only, normalized parent pose mat is enough! */ copy_m3_m4(tmat3, parchan->pose_mat); normalize_m3(tmat3); mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); } /* NO_LOCAL_LOCATION only. */ else { copy_m3_m4(tmat3, parchan->pose_mat); mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale); } copy_m4_m3(tmat4, bone_rotscale); mult_m4_m4m4(loc_mat, bone_loc, tmat4); } /* Else, just use the same matrix for rotation/scaling, and location. */ else copy_m4_m4(loc_mat, rotscale_mat); # endif } /* 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 armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float outmat[][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); pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); invert_m4(rotscale_mat); invert_m4(loc_mat); mult_m4_m4m4(outmat, rotscale_mat, inmat_); mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]); } /* Convert Bone-Space Matrix to Pose-Space Matrix. */ void armature_mat_bone_to_pose(bPoseChannel *pchan, float inmat[][4], float outmat[][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); pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); mult_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 armature_loc_pose_to_bone(bPoseChannel *pchan, const float inloc[3], float outloc[3]) { float xLocMat[4][4] = MAT4_UNITY; float nLocMat[4][4]; /* build matrix for location */ copy_v3_v3(xLocMat[3], inloc); /* get bone-space cursor matrix and extract location */ armature_mat_pose_to_bone(pchan, xLocMat, nLocMat); copy_v3_v3(outloc, nLocMat[3]); } void armature_mat_pose_to_bone_ex(Object *ob, bPoseChannel *pchan, float inmat[][4], float outmat[][4]) { bPoseChannel work_pchan = *pchan; /* recalculate pose matrix with only parent transformations, * bone loc/sca/rot is ignored, scene and frame are not used. */ where_is_pose_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); pchan_apply_mat4(&work_pchan, outmat, FALSE); armature_mat_pose_to_bone(&work_pchan, inmat, outmat); } /* same as object_mat3_to_rot() */ void pchan_mat3_to_rot(bPoseChannel *pchan, float mat[][3], short use_compat) { switch(pchan->rotmode) { case ROT_MODE_QUAT: mat3_to_quat(pchan->quat, mat); break; case ROT_MODE_AXISANGLE: mat3_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat); break; default: /* euler */ if (use_compat) mat3_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat); else mat3_to_eulO(pchan->eul, pchan->rotmode, mat); } } /* Apply a 4x4 matrix to the pose bone, * similar to object_apply_mat4() */ void pchan_apply_mat4(bPoseChannel *pchan, float mat[][4], short use_compat) { float rot[3][3]; mat4_to_loc_rot_size(pchan->loc, rot, pchan->size, mat); 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 armature_mat_pose_to_delta(float delta_mat[][4], float pose_mat[][4], float arm_mat[][4]) { float imat[4][4]; invert_m4_m4(imat, arm_mat); mult_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], float vec[3], float *roll) { if (vec) copy_v3_v3(vec, mat[1]); if (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); *roll = (float)atan2(rollmat[2][0], rollmat[2][2]); } } /* Calculates the rest matrix of a bone based * On its vector and a roll around that vector */ void vec_roll_to_mat3(const float vec[3], const float roll, float mat[][3]) { float nor[3], axis[3], target[3] = {0, 1, 0}; float theta; float rMatrix[3][3], bMatrix[3][3]; normalize_v3_v3(nor, vec); /* Find Axis & Amount for bone matrix */ cross_v3_v3v3(axis, target, nor); /* was 0.0000000000001, caused bug [#23954], smaller values give unstable * roll when toggling editmode. * * was 0.00001, causes bug [#27675], with 0.00000495, * so a value inbetween these is needed. * * was 0.000001, causes bug [#30438] (which is same as [#27675, imho). * Reseting it to org value seems to cause no more [#23954]... */ if (dot_v3v3(axis,axis) > 1.0e-13f) { /* if nor is *not* a multiple of target ... */ normalize_v3(axis); theta = angle_normalized_v3v3(target, nor); /* Make Bone matrix*/ vec_rot_to_mat3(bMatrix, axis, theta); } else { /* if nor is a multiple of target ... */ float updown; /* point same direction, or opposite? */ updown = (dot_v3v3(target,nor) > 0) ? 1.0f : -1.0f; /* I think this should work... */ bMatrix[0][0] = updown; bMatrix[0][1] = 0.0; bMatrix[0][2] = 0.0; bMatrix[1][0] = 0.0; bMatrix[1][1] = updown; bMatrix[1][2] = 0.0; bMatrix[2][0] = 0.0; bMatrix[2][1] = 0.0; bMatrix[2][2] = 1.0; } /* Make Roll matrix */ vec_rot_to_mat3(rMatrix, nor, roll); /* Combine and output result */ mul_m3_m3m3(mat, rMatrix, bMatrix); } /* recursive part, calculates restposition of entire tree of children */ /* used by exiting editmode too */ void where_is_armature_bone(Bone *bone, Bone *prevbone) { float vec[3]; /* Bone Space */ sub_v3_v3v3(vec, bone->tail, bone->head); vec_roll_to_mat3(vec, bone->roll, bone->bone_mat); bone->length = len_v3v3(bone->head, bone->tail); /* 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 */ mult_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 */ prevbone = bone; for (bone = bone->childbase.first; bone; bone = bone->next) { where_is_armature_bone(bone, prevbone); } } /* updates vectors and matrices on rest-position level, only needed * after editing armature itself, now only on reading file */ void where_is_armature(bArmature *arm) { Bone *bone; /* hierarchical from root to children */ for (bone = arm->bonebase.first; bone; bone = bone->next) { where_is_armature_bone(bone, NULL); } } /* 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, pchanw; 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 (get_pose_channel(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 */ rest_pose(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 = get_pose_channel(frompose, pchan->name); if (pchan->bone->layer & layer_protected) { ListBase proxylocal_constraints = {NULL, NULL}; /* copy posechannel to temp, but restore important pointers */ pchanw = *pchanp; pchanw.prev = pchan->prev; pchanw.next = pchan->next; pchanw.parent = pchan->parent; pchanw.child = pchan->child; /* this is freed so copy a copy, else undo crashes */ if (pchanw.prop) { pchanw.prop = IDP_CopyProperty(pchanw.prop); /* use the values from the 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 copy_constraints: when copying constraints, disable 'do_extern' otherwise * we get the libs direct linked in this blend. */ extract_proxylocal_constraints(&proxylocal_constraints, &pchan->constraints); copy_constraints(&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) { bConstraintTypeInfo *cti = constraint_get_typeinfo(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 */ free_pose_channel(pchan); /* the final copy */ *pchan = pchanw; } else { /* always copy custom shape */ pchan->custom = pchanp->custom; pchan->custom_tx = pchanp->custom_tx; /* 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 = verify_pose_channel(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 = get_pose_channel(pose, bone->name); } return counter; } /* only after leave editmode, duplicating, validating older files, library syncing */ /* NOTE: pose->flag is set for it */ void armature_rebuild_pose(Object *ob, bArmature *arm) { 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 */ for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) { pchan->bone = NULL; pchan->child = NULL; } /* 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) { free_pose_channel(pchan); free_pose_channels_hash(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) { object_copy_proxy_drivers(ob, ob->proxy); pose_proxy_synchronize(ob, ob->proxy, arm->layer_protected); } update_pose_constraint_flags(ob->pose); /* for IK detection for example */ /* the sorting */ if (counter>1) DAG_pose_sort(ob); ob->pose->flag &= ~POSE_RECALC; ob->pose->flag |= POSE_WAS_REBUILT; make_pose_channels_hash(ob->pose); } /* ********************** SPLINE IK SOLVER ******************* */ /* Temporary evaluation tree data used for Spline IK */ typedef struct tSplineIK_Tree { struct tSplineIK_Tree *next, *prev; int type; /* type of IK that this serves (CONSTRAINT_TYPE_KINEMATIC or ..._SPLINEIK) */ short free_points; /* free the point positions array */ short chainlen; /* number of bones in the chain */ float *points; /* parametric positions for the joints along the curve */ bPoseChannel **chain; /* chain of bones to affect using Spline IK (ordered from the tip) */ bPoseChannel *root; /* bone that is the root node of the chain */ bConstraint *con; /* constraint for this chain */ bSplineIKConstraint *ikData; /* constraint settings for this chain */ } tSplineIK_Tree; /* ----------- */ /* Tag the bones in the chain formed by the given bone for IK */ static void splineik_init_tree_from_pchan(Scene *scene, Object *UNUSED(ob), bPoseChannel *pchan_tip) { bPoseChannel *pchan, *pchanRoot = NULL; bPoseChannel *pchanChain[255]; bConstraint *con = NULL; bSplineIKConstraint *ikData = NULL; float boneLengths[255], *jointPoints; float totLength = 0.0f; short free_joints = 0; int segcount = 0; /* find the SplineIK constraint */ for (con = pchan_tip->constraints.first; con; con = con->next) { if (con->type == CONSTRAINT_TYPE_SPLINEIK) { ikData = con->data; /* target can only be curve */ if ((ikData->tar == NULL) || (ikData->tar->type != OB_CURVE)) continue; /* skip if disabled */ if ((con->enforce == 0.0f) || (con->flag & (CONSTRAINT_DISABLE|CONSTRAINT_OFF))) continue; /* otherwise, constraint is ok... */ break; } } if (con == NULL) return; /* make sure that the constraint targets are ok * - this is a workaround for a depsgraph bug... */ if (ikData->tar) { Curve *cu = ikData->tar->data; /* note: when creating constraints that follow path, the curve gets the CU_PATH set now, * currently for paths to work it needs to go through the bevlist/displist system (ton) */ /* only happens on reload file, but violates depsgraph still... fix! */ if ((cu->path == NULL) || (cu->path->data == NULL)) makeDispListCurveTypes(scene, ikData->tar, 0); } /* find the root bone and the chain of bones from the root to the tip * NOTE: this assumes that the bones are connected, but that may not be true... */ for (pchan = pchan_tip; pchan && (segcount < ikData->chainlen); pchan = pchan->parent, segcount++) { /* store this segment in the chain */ pchanChain[segcount] = pchan; /* if performing rebinding, calculate the length of the bone */ boneLengths[segcount] = pchan->bone->length; totLength += boneLengths[segcount]; } if (segcount == 0) return; else pchanRoot = pchanChain[segcount-1]; /* perform binding step if required */ if ((ikData->flag & CONSTRAINT_SPLINEIK_BOUND) == 0) { float segmentLen = (1.0f / (float)segcount); int i; /* setup new empty array for the points list */ if (ikData->points) MEM_freeN(ikData->points); ikData->numpoints = ikData->chainlen+1; ikData->points = MEM_callocN(sizeof(float)*ikData->numpoints, "Spline IK Binding"); /* bind 'tip' of chain (i.e. first joint = tip of bone with the Spline IK Constraint) */ ikData->points[0] = 1.0f; /* perform binding of the joints to parametric positions along the curve based * proportion of the total length that each bone occupies */ for (i = 0; i < segcount; i++) { /* 'head' joints, traveling towards the root of the chain * - 2 methods; the one chosen depends on whether we've got usable lengths */ if ((ikData->flag & CONSTRAINT_SPLINEIK_EVENSPLITS) || (totLength == 0.0f)) { /* 1) equi-spaced joints */ ikData->points[i+1] = ikData->points[i] - segmentLen; } else { /* 2) to find this point on the curve, we take a step from the previous joint * a distance given by the proportion that this bone takes */ ikData->points[i+1] = ikData->points[i] - (boneLengths[i] / totLength); } } /* spline has now been bound */ ikData->flag |= CONSTRAINT_SPLINEIK_BOUND; } /* apply corrections for sensitivity to scaling on a copy of the bind points, * since it's easier to determine the positions of all the joints beforehand this way */ if ((ikData->flag & CONSTRAINT_SPLINEIK_SCALE_LIMITED) && (totLength != 0.0f)) { Curve *cu = (Curve *)ikData->tar->data; float splineLen, maxScale; int i; /* make a copy of the points array, that we'll store in the tree * - although we could just multiply the points on the fly, this approach means that * we can introduce per-segment stretchiness later if it is necessary */ jointPoints = MEM_dupallocN(ikData->points); free_joints = 1; /* get the current length of the curve */ /* NOTE: this is assumed to be correct even after the curve was resized */ splineLen = cu->path->totdist; /* calculate the scale factor to multiply all the path values by so that the * bone chain retains its current length, such that * maxScale * splineLen = totLength */ maxScale = totLength / splineLen; /* apply scaling correction to all of the temporary points */ /* TODO: this is really not adequate enough on really short chains */ for (i = 0; i < segcount; i++) jointPoints[i] *= maxScale; } else { /* just use the existing points array */ jointPoints = ikData->points; free_joints = 0; } /* make a new Spline-IK chain, and store it in the IK chains */ /* TODO: we should check if there is already an IK chain on this, since that would take presidence... */ { /* make new tree */ tSplineIK_Tree *tree = MEM_callocN(sizeof(tSplineIK_Tree), "SplineIK Tree"); tree->type = CONSTRAINT_TYPE_SPLINEIK; tree->chainlen = segcount; /* copy over the array of links to bones in the chain (from tip to root) */ tree->chain = MEM_callocN(sizeof(bPoseChannel*)*segcount, "SplineIK Chain"); memcpy(tree->chain, pchanChain, sizeof(bPoseChannel*)*segcount); /* store reference to joint position array */ tree->points = jointPoints; tree->free_points = free_joints; /* store references to different parts of the chain */ tree->root = pchanRoot; tree->con = con; tree->ikData = ikData; /* AND! link the tree to the root */ BLI_addtail(&pchanRoot->siktree, tree); } /* mark root channel having an IK tree */ pchanRoot->flag |= POSE_IKSPLINE; } /* Tag which bones are members of Spline IK chains */ static void splineik_init_tree(Scene *scene, Object *ob, float UNUSED(ctime)) { bPoseChannel *pchan; /* find the tips of Spline IK chains, which are simply the bones which have been tagged as such */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { if (pchan->constflag & PCHAN_HAS_SPLINEIK) splineik_init_tree_from_pchan(scene, ob, pchan); } } /* ----------- */ /* Evaluate spline IK for a given bone */ static void splineik_evaluate_bone(tSplineIK_Tree *tree, Scene *scene, Object *ob, bPoseChannel *pchan, int index, float ctime) { bSplineIKConstraint *ikData = tree->ikData; float poseHead[3], poseTail[3], poseMat[4][4]; float splineVec[3], scaleFac, radius =1.0f; /* firstly, calculate the bone matrix the standard way, since this is needed for roll control */ where_is_pose_bone(scene, ob, pchan, ctime, 1); copy_v3_v3(poseHead, pchan->pose_head); copy_v3_v3(poseTail, pchan->pose_tail); /* step 1: determine the positions for the endpoints of the bone */ { float vec[4], dir[3], rad; float tailBlendFac = 1.0f; /* determine if the bone should still be affected by SplineIK */ if (tree->points[index+1] >= 1.0f) { /* spline doesn't affect the bone anymore, so done... */ pchan->flag |= POSE_DONE; return; } else if ((tree->points[index] >= 1.0f) && (tree->points[index+1] < 1.0f)) { /* blending factor depends on the amount of the bone still left on the chain */ tailBlendFac = (1.0f - tree->points[index+1]) / (tree->points[index] - tree->points[index+1]); } /* tail endpoint */ if (where_on_path(ikData->tar, tree->points[index], vec, dir, NULL, &rad, NULL)) { /* apply curve's object-mode transforms to the position * unless the option to allow curve to be positioned elsewhere is activated (i.e. no root) */ if ((ikData->flag & CONSTRAINT_SPLINEIK_NO_ROOT) == 0) mul_m4_v3(ikData->tar->obmat, vec); /* convert the position to pose-space, then store it */ mul_m4_v3(ob->imat, vec); interp_v3_v3v3(poseTail, pchan->pose_tail, vec, tailBlendFac); /* set the new radius */ radius = rad; } /* head endpoint */ if (where_on_path(ikData->tar, tree->points[index+1], vec, dir, NULL, &rad, NULL)) { /* apply curve's object-mode transforms to the position * unless the option to allow curve to be positioned elsewhere is activated (i.e. no root) */ if ((ikData->flag & CONSTRAINT_SPLINEIK_NO_ROOT) == 0) mul_m4_v3(ikData->tar->obmat, vec); /* store the position, and convert it to pose space */ mul_m4_v3(ob->imat, vec); copy_v3_v3(poseHead, vec); /* set the new radius (it should be the average value) */ radius = (radius+rad) / 2; } } /* step 2: determine the implied transform from these endpoints * - splineVec: the vector direction that the spline applies on the bone * - scaleFac: the factor that the bone length is scaled by to get the desired amount */ sub_v3_v3v3(splineVec, poseTail, poseHead); scaleFac = len_v3(splineVec) / pchan->bone->length; /* step 3: compute the shortest rotation needed to map from the bone rotation to the current axis * - this uses the same method as is used for the Damped Track Constraint (see the code there for details) */ { float dmat[3][3], rmat[3][3], tmat[3][3]; float raxis[3], rangle; /* compute the raw rotation matrix from the bone's current matrix by extracting only the * orientation-relevant axes, and normalizing them */ copy_v3_v3(rmat[0], pchan->pose_mat[0]); copy_v3_v3(rmat[1], pchan->pose_mat[1]); copy_v3_v3(rmat[2], pchan->pose_mat[2]); normalize_m3(rmat); /* also, normalize the orientation imposed by the bone, now that we've extracted the scale factor */ normalize_v3(splineVec); /* calculate smallest axis-angle rotation necessary for getting from the * current orientation of the bone, to the spline-imposed direction */ cross_v3_v3v3(raxis, rmat[1], splineVec); rangle = dot_v3v3(rmat[1], splineVec); rangle = acos(MAX2(-1.0f, MIN2(1.0f, rangle))); /* multiply the magnitude of the angle by the influence of the constraint to * control the influence of the SplineIK effect */ rangle *= tree->con->enforce; /* construct rotation matrix from the axis-angle rotation found above * - this call takes care to make sure that the axis provided is a unit vector first */ axis_angle_to_mat3(dmat, raxis, rangle); /* combine these rotations so that the y-axis of the bone is now aligned as the spline dictates, * while still maintaining roll control from the existing bone animation */ mul_m3_m3m3(tmat, dmat, rmat); /* m1, m3, m2 */ normalize_m3(tmat); /* attempt to reduce shearing, though I doubt this'll really help too much now... */ copy_m4_m3(poseMat, tmat); } /* step 4: set the scaling factors for the axes */ { /* only multiply the y-axis by the scaling factor to get nice volume-preservation */ mul_v3_fl(poseMat[1], scaleFac); /* set the scaling factors of the x and z axes from... */ switch (ikData->xzScaleMode) { case CONSTRAINT_SPLINEIK_XZS_ORIGINAL: { /* original scales get used */ float scale; /* x-axis scale */ scale = len_v3(pchan->pose_mat[0]); mul_v3_fl(poseMat[0], scale); /* z-axis scale */ scale = len_v3(pchan->pose_mat[2]); mul_v3_fl(poseMat[2], scale); } break; case CONSTRAINT_SPLINEIK_XZS_VOLUMETRIC: { /* 'volume preservation' */ float scale; /* calculate volume preservation factor which is * basically the inverse of the y-scaling factor */ if (fabsf(scaleFac) != 0.0f) { scale = 1.0f / fabsf(scaleFac); /* we need to clamp this within sensible values */ /* NOTE: these should be fine for now, but should get sanitised in future */ CLAMP(scale, 0.0001f, 100000.0f); } else scale = 1.0f; /* apply the scaling */ mul_v3_fl(poseMat[0], scale); mul_v3_fl(poseMat[2], scale); } break; } /* finally, multiply the x and z scaling by the radius of the curve too, * to allow automatic scales to get tweaked still */ if ((ikData->flag & CONSTRAINT_SPLINEIK_NO_CURVERAD) == 0) { mul_v3_fl(poseMat[0], radius); mul_v3_fl(poseMat[2], radius); } } /* step 5: set the location of the bone in the matrix */ if (ikData->flag & CONSTRAINT_SPLINEIK_NO_ROOT) { /* when the 'no-root' option is affected, the chain can retain * the shape but be moved elsewhere */ copy_v3_v3(poseHead, pchan->pose_head); } else if (tree->con->enforce < 1.0f) { /* when the influence is too low * - blend the positions for the 'root' bone * - stick to the parent for any other */ if (pchan->parent) { copy_v3_v3(poseHead, pchan->pose_head); } else { /* FIXME: this introduces popping artifacts when we reach 0.0 */ interp_v3_v3v3(poseHead, pchan->pose_head, poseHead, tree->con->enforce); } } copy_v3_v3(poseMat[3], poseHead); /* finally, store the new transform */ copy_m4_m4(pchan->pose_mat, poseMat); copy_v3_v3(pchan->pose_head, poseHead); /* recalculate tail, as it's now outdated after the head gets adjusted above! */ where_is_pose_bone_tail(pchan); /* done! */ pchan->flag |= POSE_DONE; } /* Evaluate the chain starting from the nominated bone */ static void splineik_execute_tree(Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime) { tSplineIK_Tree *tree; /* for each pose-tree, execute it if it is spline, otherwise just free it */ while ((tree = pchan_root->siktree.first) != NULL) { int i; /* walk over each bone in the chain, calculating the effects of spline IK * - the chain is traversed in the opposite order to storage order (i.e. parent to children) * so that dependencies are correct */ for (i = tree->chainlen-1; i >= 0; i--) { bPoseChannel *pchan = tree->chain[i]; splineik_evaluate_bone(tree, scene, ob, pchan, i, ctime); } /* free the tree info specific to SplineIK trees now */ if (tree->chain) MEM_freeN(tree->chain); if (tree->free_points) MEM_freeN(tree->points); /* free this tree */ BLI_freelinkN(&pchan_root->siktree, tree); } } /* ********************** THE POSE SOLVER ******************* */ /* loc/rot/size to given mat4 */ void 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 normalised 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 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 */ 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= (float)scene->r.cfra; int do_modif; for (strip=armob->nlastrips.first; strip; strip=strip->next) { do_modif=0; if (scene_cfra>=strip->start && scene_cfra<=strip->end) do_modif=1; if ((scene_cfra > strip->end) && (strip->flag & ACTSTRIP_HOLDLASTFRAME)) { do_modif=1; /* 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=0; } } /* 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=0; } } } 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 ( strcmp(pchan->name, amod->channel)==0 ) { 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 ( strcmp(pchan->name, amod->channel)==0 ) { 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 where_is_pose_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 where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float ctime, int do_extra) { /* This gives a chan_mat with actions (ipos) results. */ if (do_extra) 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) */ armature_mat_bone_to_pose(pchan, pchan->chan_mat, pchan->pose_mat); #if 0 /* XXX Old code, will remove this later. */ { float rotscale_mat[4][4], loc_mat[4][4]; pchan_to_pose_mat(pchan, rotscale_mat, loc_mat); /* Rotation and scale. */ mult_m4_m4m4(pchan->pose_mat, rotscale_mat, pchan->chan_mat); /* Location. */ mul_v3_m4v3(pchan->pose_mat[3], loc_mat, pchan->chan_mat[3]); } #endif /* 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 = constraints_make_evalob(scene, ob, pchan, CONSTRAINT_OBTYPE_BONE); /* Solve PoseChannel's Constraints */ solve_constraints(&pchan->constraints, cob, ctime); /* ctime doesnt alter objects */ /* cleanup after Constraint Solving * - applies matrix back to pchan, and frees temporary struct used */ 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 */ where_is_pose_bone_tail(pchan); } /* This only reads anim data from channels, and writes to channels */ /* This is the only function adding poses */ void where_is_pose (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)) armature_rebuild_pose(ob, arm); ctime = BKE_curframe(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 */ 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) { splineik_execute_tree(scene, ob, pchan, ctime); } /* 5. otherwise just call the normal solver */ else if (!(pchan->flag & POSE_DONE)) { where_is_pose_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); mult_m4_m4m4(pchan->chan_mat, pchan->pose_mat, imat); } } } /* Returns total selected vgroups, * wpi.defbase_sel is assumed malloc'd, all values are set */ int get_selected_defgroups(Object *ob, char *dg_selection, int defbase_tot) { bDeformGroup *defgroup; unsigned int i; Object *armob = object_pose_armature_get(ob); int dg_flags_sel_tot = 0; if (armob) { bPose *pose = armob->pose; for (i = 0, defgroup = ob->defbase.first; i < defbase_tot && defgroup; defgroup = defgroup->next, i++) { bPoseChannel *pchan = get_pose_channel(pose, defgroup->name); if (pchan && (pchan->bone->flag & BONE_SELECTED)) { dg_selection[i] = TRUE; dg_flags_sel_tot++; } else { dg_selection[i] = FALSE; } } } else { memset(dg_selection, FALSE, sizeof(char) * defbase_tot); } return dg_flags_sel_tot; } /************** Bounding box ********************/ int minmax_armature(Object *ob, float min[3], float max[3]) { bPoseChannel *pchan; /* For now, we assume where_is_pose has already been called (hence we have valid data in pachan). */ for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) { DO_MINMAX(pchan->pose_head, min, max); DO_MINMAX(pchan->pose_tail, min, max); } return (ob->pose->chanbase.first != NULL); } void boundbox_armature(Object *ob, float *loc, float *size) { BoundBox *bb; float min[3], max[3]; float mloc[3], msize[3]; if (ob->bb == NULL) ob->bb = MEM_callocN(sizeof(BoundBox), "Armature boundbox"); bb = ob->bb; if (!loc) loc = mloc; if (!size) size = msize; 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; } mid_v3_v3v3(loc, min, max); size[0] = (max[0] - min[0]) / 2.0f; size[1] = (max[1] - min[1]) / 2.0f; size[2] = (max[2] - min[2]) / 2.0f; boundbox_set_from_min_max(bb, min, max); } BoundBox *BKE_armature_get_bb(Object *ob) { boundbox_armature(ob, NULL, NULL); return ob->bb; }