path: root/source/blender/blenkernel/BKE_armature.h

/*
 * 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.
 */
#ifndef __BKE_ARMATURE_H__
#define __BKE_ARMATURE_H__

/** \file
 * \ingroup bke
 */
#include "BLI_listbase.h"

#ifdef __cplusplus
extern "C" {
#endif

struct BMEditMesh;
struct Bone;
struct Depsgraph;
struct ListBase;
struct Main;
struct Mesh;
struct Object;
struct PoseTree;
struct Scene;
struct bArmature;
struct bConstraint;
struct bGPDstroke;
struct bPose;
struct bPoseChannel;

typedef struct PoseTarget {
  struct PoseTarget *next, *prev;

  struct bConstraint *con; /* the constraint of this target */
  int tip;                 /* index of tip pchan in PoseTree */
} PoseTarget;

typedef struct PoseTree {
  struct PoseTree *next, *prev;

  int type;       /* type of IK that this serves (CONSTRAINT_TYPE_KINEMATIC or ..._SPLINEIK) */
  int totchannel; /* number of pose channels */

  struct ListBase targets;     /* list of targets of the tree */
  struct bPoseChannel **pchan; /* array of pose channels */
  int *parent;                 /* and their parents */

  float (*basis_change)[3][3]; /* basis change result from solver */
  int iterations;              /* iterations from the constraint */
  int stretch;                 /* disable stretching */
} PoseTree;

/* Core armature functionality. */

struct bArmature *BKE_armature_add(struct Main *bmain, const char *name);
struct bArmature *BKE_armature_from_object(struct Object *ob);
int BKE_armature_bonelist_count(struct ListBase *lb);
void BKE_armature_bonelist_free(struct ListBase *lb);
struct bArmature *BKE_armature_copy(struct Main *bmain, const struct bArmature *arm);

void BKE_armature_copy_bone_transforms(struct bArmature *armature_dst,
                                       const struct bArmature *armature_src);

void BKE_armature_transform(struct bArmature *arm, const float mat[4][4], const bool do_props);

/* Bounding box. */
struct BoundBox *BKE_armature_boundbox_get(struct Object *ob);

bool BKE_pose_minmax(
    struct Object *ob, float r_min[3], float r_max[3], bool use_hidden, bool use_select);

int bone_autoside_name(char name[64], int strip_number, short axis, float head, float tail);

struct Bone *BKE_armature_find_bone_name(struct bArmature *arm, const char *name);

void BKE_armature_bone_hash_make(struct bArmature *arm);
void BKE_armature_bone_hash_free(struct bArmature *arm);

bool BKE_armature_bone_flag_test_recursive(const struct Bone *bone, int flag);

void BKE_armature_refresh_layer_used(struct Depsgraph *depsgraph, struct bArmature *arm);

float distfactor_to_bone(
    const float vec[3], const float b1[3], const float b2[3], float r1, float r2, float rdist);

void BKE_armature_where_is(struct bArmature *arm);
void BKE_armature_where_is_bone(struct Bone *bone,
                                const struct Bone *bone_parent,
                                const bool use_recursion);
void BKE_pose_clear_pointers(struct bPose *pose);
void BKE_pose_remap_bone_pointers(struct bArmature *armature, struct bPose *pose);
void BKE_pchan_rebuild_bbone_handles(struct bPose *pose, struct bPoseChannel *pchan);
void BKE_pose_rebuild(struct Main *bmain,
                      struct Object *ob,
                      struct bArmature *arm,
                      const bool do_id_user);
void BKE_pose_where_is(struct Depsgraph *depsgraph, struct Scene *scene, struct Object *ob);
void BKE_pose_where_is_bone(struct Depsgraph *depsgraph,
                            struct Scene *scene,
                            struct Object *ob,
                            struct bPoseChannel *pchan,
                            float ctime,
                            bool do_extra);
void BKE_pose_where_is_bone_tail(struct bPoseChannel *pchan);

/* get_objectspace_bone_matrix has to be removed still */
void get_objectspace_bone_matrix(struct Bone *bone,
                                 float M_accumulatedMatrix[4][4],
                                 int root,
                                 int posed);
void vec_roll_to_mat3(const float vec[3], const float roll, float mat[3][3]);
void vec_roll_to_mat3_normalized(const float nor[3], const float roll, float mat[3][3]);
void mat3_to_vec_roll(const float mat[3][3], float r_vec[3], float *r_roll);
void mat3_vec_to_roll(const float mat[3][3], const float vec[3], float *r_roll);

/* Common Conversions Between Co-ordinate Spaces */
void BKE_armature_mat_world_to_pose(struct Object *ob, float inmat[4][4], float outmat[4][4]);
void BKE_armature_loc_world_to_pose(struct Object *ob, const float inloc[3], float outloc[3]);
void BKE_armature_mat_pose_to_bone(struct bPoseChannel *pchan,
                                   float inmat[4][4],
                                   float outmat[4][4]);
void BKE_armature_loc_pose_to_bone(struct bPoseChannel *pchan,
                                   const float inloc[3],
                                   float outloc[3]);
void BKE_armature_mat_bone_to_pose(struct bPoseChannel *pchan,
                                   float inmat[4][4],
                                   float outmat[4][4]);
void BKE_armature_mat_pose_to_delta(float delta_mat[4][4],
                                    float pose_mat[4][4],
                                    float arm_mat[4][4]);

void BKE_armature_mat_pose_to_bone_ex(struct Depsgraph *depsgraph,
                                      struct Object *ob,
                                      struct bPoseChannel *pchan,
                                      float inmat[4][4],
                                      float outmat[4][4]);

void BKE_pchan_mat3_to_rot(struct bPoseChannel *pchan, float mat[3][3], bool use_compat);
void BKE_pchan_rot_to_mat3(const struct bPoseChannel *pchan, float mat[3][3]);
void BKE_pchan_apply_mat4(struct bPoseChannel *pchan, float mat[4][4], bool use_comat);
void BKE_pchan_to_mat4(const struct bPoseChannel *pchan, float chan_mat[4][4]);
void BKE_pchan_calc_mat(struct bPoseChannel *pchan);

/* Simple helper, computes the offset bone matrix. */
void BKE_bone_offset_matrix_get(const struct Bone *bone, float offs_bone[4][4]);

/* Transformation inherited from the parent bone. These matrices apply the effects of
 * HINGE/NO_SCALE/NO_LOCAL_LOCATION options over the pchan loc/rot/scale transformations. */
typedef struct BoneParentTransform {
  float rotscale_mat[4][4]; /* parent effect on rotation & scale pose channels */
  float loc_mat[4][4];      /* parent effect on location pose channel */
  float post_scale[3];      /* additional scale to apply with post-multiply */
} BoneParentTransform;

/* Matrix-like algebra operations on the transform */
void BKE_bone_parent_transform_clear(struct BoneParentTransform *bpt);
void BKE_bone_parent_transform_invert(struct BoneParentTransform *bpt);
void BKE_bone_parent_transform_combine(const struct BoneParentTransform *in1,
                                       const struct BoneParentTransform *in2,
                                       struct BoneParentTransform *result);

void BKE_bone_parent_transform_apply(const struct BoneParentTransform *bpt,
                                     const float inmat[4][4],
                                     float outmat[4][4]);

/* Get the current parent transformation for the given pose bone. */
void BKE_bone_parent_transform_calc_from_pchan(const struct bPoseChannel *pchan,
                                               struct BoneParentTransform *r_bpt);
void BKE_bone_parent_transform_calc_from_matrices(int bone_flag,
                                                  int inherit_scale_mode,
                                                  const float offs_bone[4][4],
                                                  const float parent_arm_mat[4][4],
                                                  const float parent_pose_mat[4][4],
                                                  struct BoneParentTransform *r_bpt);

/* Rotation Mode Conversions - Used for PoseChannels + Objects... */
void BKE_rotMode_change_values(
    float quat[4], float eul[3], float axis[3], float *angle, short oldMode, short newMode);

/* B-Bone support */
#define MAX_BBONE_SUBDIV 32

typedef struct Mat4 {
  float mat[4][4];
} Mat4;

typedef struct BBoneSplineParameters {
  int segments;
  float length;

  /* Non-uniform scale correction. */
  bool do_scale;
  float scale[3];

  /* Handle control bone data. */
  bool use_prev, prev_bbone;
  bool use_next, next_bbone;

  float prev_h[3], next_h[3];
  float prev_mat[4][4], next_mat[4][4];

  /* Control values. */
  float ease1, ease2;
  float roll1, roll2;
  float scale_in_x, scale_in_y, scale_out_x, scale_out_y;
  float curve_in_x, curve_in_y, curve_out_x, curve_out_y;
} BBoneSplineParameters;

void BKE_pchan_bbone_handles_get(struct bPoseChannel *pchan,
                                 struct bPoseChannel **r_prev,
                                 struct bPoseChannel **r_next);
void BKE_pchan_bbone_spline_params_get(struct bPoseChannel *pchan,
                                       const bool rest,
                                       struct BBoneSplineParameters *r_param);

void BKE_pchan_bbone_spline_setup(struct bPoseChannel *pchan,
                                  const bool rest,
                                  const bool for_deform,
                                  Mat4 *result_array);

void BKE_pchan_bbone_handles_compute(const BBoneSplineParameters *param,
                                     float h1[3],
                                     float *r_roll1,
                                     float h2[3],
                                     float *r_roll2,
                                     bool ease,
                                     bool offsets);
int BKE_pchan_bbone_spline_compute(struct BBoneSplineParameters *param,
                                   const bool for_deform,
                                   Mat4 *result_array);

void BKE_pchan_bbone_segments_cache_compute(struct bPoseChannel *pchan);
void BKE_pchan_bbone_segments_cache_copy(struct bPoseChannel *pchan,
                                         struct bPoseChannel *pchan_from);

void BKE_pchan_bbone_deform_segment_index(const struct bPoseChannel *pchan,
                                          float pos,
                                          int *r_index,
                                          float *r_blend_next);

/* like EBONE_VISIBLE */
#define PBONE_VISIBLE(arm, bone) \
  (CHECK_TYPE_INLINE(arm, bArmature *), \
   CHECK_TYPE_INLINE(bone, Bone *), \
   (((bone)->layer & (arm)->layer) && !((bone)->flag & BONE_HIDDEN_P)))

#define PBONE_SELECTABLE(arm, bone) \
  (PBONE_VISIBLE(arm, bone) && !((bone)->flag & BONE_UNSELECTABLE))

/* context.selected_pose_bones */
#define FOREACH_PCHAN_SELECTED_IN_OBJECT_BEGIN(_ob, _pchan) \
  for (bPoseChannel *_pchan = (_ob)->pose->chanbase.first; _pchan; _pchan = _pchan->next) { \
    if (PBONE_VISIBLE(((bArmature *)(_ob)->data), (_pchan)->bone) && \
        ((_pchan)->bone->flag & BONE_SELECTED)) {
#define FOREACH_PCHAN_SELECTED_IN_OBJECT_END \
  } \
  } \
  ((void)0)
/* context.visible_pose_bones */
#define FOREACH_PCHAN_VISIBLE_IN_OBJECT_BEGIN(_ob, _pchan) \
  for (bPoseChannel *_pchan = (_ob)->pose->chanbase.first; _pchan; _pchan = _pchan->next) { \
    if (PBONE_VISIBLE(((bArmature *)(_ob)->data), (_pchan)->bone)) {
#define FOREACH_PCHAN_VISIBLE_IN_OBJECT_END \
  } \
  } \
  ((void)0)

/* Evaluation helpers */
struct bKinematicConstraint;
struct bPose;
struct bSplineIKConstraint;

struct bPoseChannel *BKE_armature_ik_solver_find_root(struct bPoseChannel *pchan,
                                                      struct bKinematicConstraint *data);
struct bPoseChannel *BKE_armature_splineik_solver_find_root(struct bPoseChannel *pchan,
                                                            struct bSplineIKConstraint *data);

void BKE_pose_splineik_init_tree(struct Scene *scene, struct Object *ob, float ctime);
void BKE_splineik_execute_tree(struct Depsgraph *depsgraph,
                               struct Scene *scene,
                               struct Object *ob,
                               struct bPoseChannel *pchan_root,
                               float ctime);

void BKE_pose_pchan_index_rebuild(struct bPose *pose);

void BKE_pose_eval_init(struct Depsgraph *depsgraph, struct Scene *scene, struct Object *object);

void BKE_pose_eval_init_ik(struct Depsgraph *depsgraph,
                           struct Scene *scene,
                           struct Object *object);

void BKE_pose_eval_bone(struct Depsgraph *depsgraph,
                        struct Scene *scene,
                        struct Object *object,
                        int pchan_index);

void BKE_pose_constraints_evaluate(struct Depsgraph *depsgraph,
                                   struct Scene *scene,
                                   struct Object *object,
                                   int pchan_index);

void BKE_pose_bone_done(struct Depsgraph *depsgraph, struct Object *object, int pchan_index);

void BKE_pose_eval_bbone_segments(struct Depsgraph *depsgraph,
                                  struct Object *object,
                                  int pchan_index);

void BKE_pose_iktree_evaluate(struct Depsgraph *depsgraph,
                              struct Scene *scene,
                              struct Object *object,
                              int rootchan_index);

void BKE_pose_splineik_evaluate(struct Depsgraph *depsgraph,
                                struct Scene *scene,
                                struct Object *object,
                                int rootchan_index);

void BKE_pose_eval_done(struct Depsgraph *depsgraph, struct Object *object);

void BKE_pose_eval_cleanup(struct Depsgraph *depsgraph,
                           struct Scene *scene,
                           struct Object *object);

void BKE_pose_eval_proxy_init(struct Depsgraph *depsgraph, struct Object *object);
void BKE_pose_eval_proxy_done(struct Depsgraph *depsgraph, struct Object *object);
void BKE_pose_eval_proxy_cleanup(struct Depsgraph *depsgraph, struct Object *object);

void BKE_pose_eval_proxy_copy_bone(struct Depsgraph *depsgraph,
                                   struct Object *object,
                                   int pchan_index);

/* -------------------------------------------------------------------- */
/** \name Deform 3D Coordinates by Armature (armature_deform.c)
 * \{ */

/* Note that we could have a 'BKE_armature_deform_coords' that doesn't take object data
 * currently there are no callers for this though. */

void BKE_armature_deform_coords_with_gpencil_stroke(const struct Object *ob_arm,
                                                    const struct Object *ob_target,
                                                    float (*vert_coords)[3],
                                                    float (*vert_deform_mats)[3][3],
                                                    int vert_coords_len,
                                                    int deformflag,
                                                    float (*vert_coords_prev)[3],
                                                    const char *defgrp_name,
                                                    struct bGPDstroke *gps_target);

void BKE_armature_deform_coords_with_mesh(const struct Object *ob_arm,
                                          const struct Object *ob_target,
                                          float (*vert_coords)[3],
                                          float (*vert_deform_mats)[3][3],
                                          int vert_coords_len,
                                          int deformflag,
                                          float (*vert_coords_prev)[3],
                                          const char *defgrp_name,
                                          const struct Mesh *me_target);

void BKE_armature_deform_coords_with_editmesh(const struct Object *ob_arm,
                                              const struct Object *ob_target,
                                              float (*vert_coords)[3],
                                              float (*vert_deform_mats)[3][3],
                                              int vert_coords_len,
                                              int deformflag,
                                              float (*vert_coords_prev)[3],
                                              const char *defgrp_name,
                                              struct BMEditMesh *em_target);

/** \} */

#ifdef __cplusplus
}
#endif

#endif