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/*
* ***** 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 <ctype.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <float.h>
#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 *BKE_armature_add(const char *name)
{
bArmature *arm;
arm = BKE_libblock_alloc(&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 *BKE_armature_from_object(Object *ob)
{
if (ob->type == OB_ARMATURE)
return (bArmature *)ob->data;
return NULL;
}
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);
}
void BKE_armature_free(bArmature *arm)
{
if (arm) {
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;
}
/* free animation data */
if (arm->adt) {
BKE_free_animdata(&arm->id);
arm->adt = NULL;
}
}
}
void BKE_armature_make_local(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 = BKE_armature_copy(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 *BKE_armature_copy(bArmature *arm)
{
bArmature *newArm;
Bone *oldBone, *newBone;
Bone *newActBone = NULL;
newArm = BKE_libblock_copy(&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 *BKE_armature_find_bone_name(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, do_scale = 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];
do_scale = 1;
}
}
hlength1 = bone->ease1 * length * 0.390464f; /* 0.5f * 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 (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 (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;
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_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_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], 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], 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;
}
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 = FALSE;
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) {
use_dverts = (dm->getVertData(dm, 0, 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");
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] = 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 >= 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_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 BKE_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 BKE_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 */
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])
{
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 BKE_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);
/* 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);
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);
}
/* 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], 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);
BKE_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 BKE_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);
BKE_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 BKE_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 */
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], 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. */
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], 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 BKE_object_apply_mat4() */
void BKE_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);
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], 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]...
*
* was 0.0000000000001, caused bug [#31333], smaller values give unstable
* roll when toggling editmode again...
* No good value here, trying 0.000000001 as best compromize. :/
*/
if (dot_v3v3(axis, axis) > 1.0e-9f) {
/* 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 BKE_armature_where_is_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) {
BKE_armature_where_is_bone(bone, prevbone);
}
}
/* 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);
}
}
/* 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 (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 regulat cases it shouldn't happen at all */
}
else 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 */
BKE_pose_channel_free(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 = 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;
}
/* only after leave editmode, duplicating, validating older files, library syncing */
/* NOTE: pose->flag is set for it */
void BKE_pose_rebuild(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) {
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 */
/* the sorting */
if (counter > 1)
DAG_pose_sort(ob);
ob->pose->flag &= ~POSE_RECALC;
ob->pose->flag |= POSE_WAS_REBUILT;
BKE_pose_channels_hash_make(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))
BKE_displist_make_curveTypes(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 */
BKE_pose_where_is_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);
CLAMP(rangle, -1.0f, 1.0f);
rangle = acosf(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! */
BKE_pose_where_is_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 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 = (float)scene->r.cfra;
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 (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 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, int 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 = 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 */
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
*/
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)) {
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);
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 = BKE_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 = BKE_pose_channel_find_name(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 ********************/
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 (ob->pose->chanbase.first != NULL);
}
static void boundbox_armature(Object *ob, float loc[3], float size[3])
{
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;
BKE_boundbox_init_from_minmax(bb, min, max);
}
BoundBox *BKE_armature_boundbox_get(Object *ob)
{
boundbox_armature(ob, NULL, NULL);
return ob->bb;
}
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