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Cleanup: move ikplugin and simulation to C++ 

Also see #103343.

Pull Request: https://projects.blender.org/blender/blender/pulls/110270
This commit is contained in:
Jacques Lucke 2023-07-20 11:18:40 +02:00
parent 211c28589c
commit 269579e79b
9 changed files with 57 additions and 54 deletions
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6
source/blender/ikplugin/CMakeLists.txt
View File

@ -13,7 +13,7 @@ set(INC_SYS
)
set(SRC
intern/ikplugin_api.c
intern/ikplugin_api.cc
BIK_api.h
intern/ikplugin_api.h
@ -34,7 +34,7 @@ if(WITH_IK_SOLVER)
../../../intern/iksolver/extern
)
list(APPEND SRC
intern/iksolver_plugin.c
intern/iksolver_plugin.cc
intern/iksolver_plugin.h
)
add_definitions(-DWITH_IK_SOLVER)
@ -51,7 +51,7 @@ if(WITH_IK_ITASC)
${EIGEN3_INCLUDE_DIRS}
)
list(APPEND SRC
intern/itasc_plugin.cpp
intern/itasc_plugin.cc
intern/itasc_plugin.h
)
add_definitions(-DWITH_IK_ITASC)

10
source/blender/ikplugin/intern/ikplugin_api.c → source/blender/ikplugin/intern/ikplugin_api.cc
View File

@ -30,9 +30,9 @@ static IKPlugin ikplugin_tab[] = {
iksolver_execute_tree,
iksolver_release_tree,
iksolver_clear_data,
NULL,
NULL,
NULL,
nullptr,
nullptr,
nullptr,
},
#endif
@ -49,12 +49,12 @@ static IKPlugin ikplugin_tab[] = {
},
#endif
{NULL}};
{nullptr}};
static IKPlugin *get_plugin(bPose *pose)
{
if (!pose || pose->iksolver < 0 || pose->iksolver >= (ARRAY_SIZE(ikplugin_tab) - 1)) {
return NULL;
return nullptr;
}
return &ikplugin_tab[pose->iksolver];

59
source/blender/ikplugin/intern/iksolver_plugin.c → source/blender/ikplugin/intern/iksolver_plugin.cc
View File

@ -33,9 +33,9 @@
/* allocates PoseTree, and links that to root bone/channel */
/* NOTE: detecting the IK chain is duplicate code...
* in drawarmature.c and in transform_conversions.c */
static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
static void initialize_posetree(Object * /*ob*/, bPoseChannel *pchan_tip)
{
bPoseChannel *curchan, *pchan_root = NULL, *chanlist[256], **oldchan;
bPoseChannel *curchan, *pchan_root = nullptr, *chanlist[256], **oldchan;
PoseTree *tree;
PoseTarget *target;
bConstraint *con;
@ -43,13 +43,13 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
int a, t, segcount = 0, size, newsize, *oldparent, parent;
/* find IK constraint, and validate it */
for (con = pchan_tip->constraints.first; con; con = con->next) {
for (con = static_cast<bConstraint *>(pchan_tip->constraints.first); con; con = con->next) {
if (con->type == CONSTRAINT_TYPE_KINEMATIC) {
data = (bKinematicConstraint *)con->data;
if (data->flag & CONSTRAINT_IK_AUTO) {
break;
}
if (data->tar == NULL) {
if (data->tar == nullptr) {
continue;
}
if (data->tar->type == OB_ARMATURE && data->subtarget[0] == 0) {
@ -60,7 +60,7 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
}
}
}
if (con == NULL) {
if (con == nullptr) {
return;
}
@ -88,8 +88,8 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
/* setup the chain data */
/* we make tree-IK, unless all existing targets are in this chain */
for (tree = pchan_root->iktree.first; tree; tree = tree->next) {
for (target = tree->targets.first; target; target = target->next) {
for (tree = static_cast<PoseTree *>(pchan_root->iktree.first); tree; tree = tree->next) {
for (target = static_cast<PoseTarget *>(tree->targets.first); target; target = target->next) {
curchan = tree->pchan[target->tip];
if (curchan->flag & POSE_CHAIN) {
curchan->flag &= ~POSE_CHAIN;
@ -104,13 +104,13 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
}
/* create a target */
target = MEM_callocN(sizeof(PoseTarget), "posetarget");
target = static_cast<PoseTarget *>(MEM_callocN(sizeof(PoseTarget), "posetarget"));
target->con = con;
pchan_tip->flag &= ~POSE_CHAIN;
if (tree == NULL) {
if (tree == nullptr) {
/* make new tree */
tree = MEM_callocN(sizeof(PoseTree), "posetree");
tree = static_cast<PoseTree *>(MEM_callocN(sizeof(PoseTree), "posetree"));
tree->type = CONSTRAINT_TYPE_KINEMATIC;
@ -118,8 +118,9 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
tree->totchannel = segcount;
tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
tree->pchan = MEM_callocN(segcount * sizeof(void *), "ik tree pchan");
tree->parent = MEM_callocN(segcount * sizeof(int), "ik tree parent");
tree->pchan = static_cast<bPoseChannel **>(
MEM_callocN(segcount * sizeof(void *), "ik tree pchan"));
tree->parent = static_cast<int *>(MEM_callocN(segcount * sizeof(int), "ik tree parent"));
for (a = 0; a < segcount; a++) {
tree->pchan[a] = chanlist[segcount - a - 1];
tree->parent[a] = a - 1;
@ -170,8 +171,9 @@ static void initialize_posetree(Object *UNUSED(ob), bPoseChannel *pchan_tip)
oldchan = tree->pchan;
oldparent = tree->parent;
tree->pchan = MEM_callocN(newsize * sizeof(void *), "ik tree pchan");
tree->parent = MEM_callocN(newsize * sizeof(int), "ik tree parent");
tree->pchan = static_cast<bPoseChannel **>(
MEM_callocN(newsize * sizeof(void *), "ik tree pchan"));
tree->parent = static_cast<int *>(MEM_callocN(newsize * sizeof(int), "ik tree parent"));
memcpy(tree->pchan, oldchan, sizeof(void *) * tree->totchannel);
memcpy(tree->parent, oldparent, sizeof(int) * tree->totchannel);
MEM_freeN(oldchan);
@ -273,21 +275,21 @@ static void execute_posetree(struct Depsgraph *depsgraph,
float goal[4][4], goalinv[4][4];
float irest_basis[3][3], full_basis[3][3];
float end_pose[4][4], world_pose[4][4];
float basis[3][3], rest_basis[3][3], start[3], *ikstretch = NULL;
float basis[3][3], rest_basis[3][3], start[3], *ikstretch = nullptr;
float resultinf = 0.0f;
int a, flag, hasstretch = 0, resultblend = 0;
bPoseChannel *pchan;
IK_Segment *seg, *parent, **iktree, *iktarget;
IK_Solver *solver;
PoseTarget *target;
bKinematicConstraint *data, *poleangledata = NULL;
bKinematicConstraint *data, *poleangledata = nullptr;
Bone *bone;
if (tree->totchannel == 0) {
return;
}
iktree = MEM_mallocN(sizeof(void *) * tree->totchannel, "ik tree");
iktree = static_cast<IK_Segment **>(MEM_mallocN(sizeof(void *) * tree->totchannel, "ik tree"));
for (a = 0; a < tree->totchannel; a++) {
float length;
@ -315,7 +317,7 @@ static void execute_posetree(struct Depsgraph *depsgraph,
/* find parent */
if (a == 0) {
parent = NULL;
parent = nullptr;
}
else {
parent = iktree[tree->parent[a]];
@ -410,7 +412,7 @@ static void execute_posetree(struct Depsgraph *depsgraph,
mul_m4_m4m4(imat, ob->object_to_world, rootmat);
invert_m4_m4(goalinv, imat);
for (target = tree->targets.first; target; target = target->next) {
for (target = static_cast<PoseTarget *>(tree->targets.first); target; target = target->next) {
float polepos[3];
int poleconstrain = 0;
@ -506,9 +508,10 @@ static void execute_posetree(struct Depsgraph *depsgraph,
IK_FreeSolver(solver);
/* gather basis changes */
tree->basis_change = MEM_mallocN(sizeof(float[3][3]) * tree->totchannel, "ik basis change");
tree->basis_change = static_cast<float(*)[3][3]>(
MEM_mallocN(sizeof(float[3][3]) * tree->totchannel, "ik basis change"));
if (hasstretch) {
ikstretch = MEM_mallocN(sizeof(float) * tree->totchannel, "ik stretch");
ikstretch = static_cast<float *>(MEM_mallocN(sizeof(float) * tree->totchannel, "ik stretch"));
}
for (a = 0; a < tree->totchannel; a++) {
@ -572,14 +575,14 @@ static void free_posetree(PoseTree *tree)
/* ------------------------------
* Plugin API for legacy iksolver */
void iksolver_initialize_tree(struct Depsgraph *UNUSED(depsgraph),
struct Scene *UNUSED(scene),
void iksolver_initialize_tree(struct Depsgraph * /*depsgraph*/,
struct Scene * /*scene*/,
Object *ob,
float UNUSED(ctime))
float /*ctime*/)
{
bPoseChannel *pchan;
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
for (pchan = static_cast<bPoseChannel *>(ob->pose->chanbase.first); pchan; pchan = pchan->next) {
if (pchan->constflag & PCHAN_HAS_IK) { /* flag is set on editing constraints */
initialize_posetree(ob, pchan); /* will attach it to root! */
}
@ -594,7 +597,7 @@ void iksolver_execute_tree(struct Depsgraph *depsgraph,
float ctime)
{
while (pchan_root->iktree.first) {
PoseTree *tree = pchan_root->iktree.first;
PoseTree *tree = static_cast<PoseTree *>(pchan_root->iktree.first);
int a;
/* stop on the first tree that isn't a standard IK chain */
@ -632,7 +635,7 @@ void iksolver_execute_tree(struct Depsgraph *depsgraph,
}
}
void iksolver_release_tree(struct Scene *UNUSED(scene), Object *ob, float UNUSED(ctime))
void iksolver_release_tree(struct Scene * /*scene*/, Object *ob, float /*ctime*/)
{
iksolver_clear_data(ob->pose);
}
@ -645,7 +648,7 @@ void iksolver_clear_data(bPose *pose)
}
while (pchan->iktree.first) {
PoseTree *tree = pchan->iktree.first;
PoseTree *tree = static_cast<PoseTree *>(pchan->iktree.first);
/* stop on the first tree that isn't a standard IK chain */
if (tree->type != CONSTRAINT_TYPE_KINEMATIC) {

0
source/blender/ikplugin/intern/itasc_plugin.cpp → source/blender/ikplugin/intern/itasc_plugin.cc
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8
source/blender/simulation/CMakeLists.txt
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@ -17,10 +17,10 @@ set(INC_SYS
)
set(SRC
intern/SIM_mass_spring.cpp
intern/hair_volume.cpp
intern/implicit_blender.c
intern/implicit_eigen.cpp
intern/SIM_mass_spring.cc
intern/hair_volume.cc
intern/implicit_blender.cc
intern/implicit_eigen.cc
intern/ConstrainedConjugateGradient.h
intern/eigen_utils.h

0
source/blender/simulation/intern/SIM_mass_spring.cpp → source/blender/simulation/intern/SIM_mass_spring.cc
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0
source/blender/simulation/intern/hair_volume.cpp → source/blender/simulation/intern/hair_volume.cc
View File

28
source/blender/simulation/intern/implicit_blender.c → source/blender/simulation/intern/implicit_blender.cc
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@ -59,14 +59,14 @@ static float ZERO[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
/* DEFINITIONS */
typedef float lfVector[3];
typedef struct fmatrix3x3 {
struct fmatrix3x3 {
float m[3][3]; /* 3x3 matrix */
uint c, r; /* column and row number */
// int pinned; /* is this vertex allowed to move? */
float n1, n2, n3; /* three normal vectors for collision constrains */
uint vcount; /* vertex count */
uint scount; /* spring count */
} fmatrix3x3;
};
///////////////////////////
/* float[3] vector */
@ -128,7 +128,7 @@ DO_INLINE lfVector *create_lfvector(uint verts)
/* delete long vector */
DO_INLINE void del_lfvector(float (*fLongVector)[3])
{
if (fLongVector != NULL) {
if (fLongVector != nullptr) {
MEM_freeN(fLongVector);
// cloth_aligned_free(&MEMORY_BASE, fLongVector);
}
@ -543,7 +543,7 @@ DO_INLINE fmatrix3x3 *create_bfmatrix(uint verts, uint springs)
/* delete big matrix */
DO_INLINE void del_bfmatrix(fmatrix3x3 *matrix)
{
if (matrix != NULL) {
if (matrix != nullptr) {
MEM_freeN(matrix);
}
}
@ -630,7 +630,7 @@ DO_INLINE void subadd_bfmatrixS_bfmatrixS(
/* simulator start */
///////////////////////////////////////////////////////////////////
typedef struct Implicit_Data {
struct Implicit_Data {
/* inputs */
fmatrix3x3 *bigI; /* identity (constant) */
fmatrix3x3 *tfm; /* local coordinate transform */
@ -651,7 +651,7 @@ typedef struct Implicit_Data {
lfVector *z; /* target velocity in constrained directions */
fmatrix3x3 *S; /* filtering matrix for constraints */
fmatrix3x3 *P, *Pinv; /* pre-conditioning matrix */
} Implicit_Data;
};
Implicit_Data *SIM_mass_spring_solver_create(int numverts, int numsprings)
{
@ -940,7 +940,7 @@ static int cg_filtered_pre(lfVector *dv,
{
uint numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100;
float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0;
float conjgrad_epsilon = 0.0001; /* 0.2 is dt for steps=5 */
float conjgrad_epsilon = 0.0001; /* 0.2 is dt for steps=5 */
lfVector *r = create_lfvector(numverts);
lfVector *p = create_lfvector(numverts);
lfVector *s = create_lfvector(numverts);
@ -1575,8 +1575,8 @@ static void edge_wind_vertex(const float dir[3],
float radius,
const float wind[3],
float f[3],
float UNUSED(dfdx[3][3]),
float UNUSED(dfdv[3][3]))
float[3][3] /*dfdx*/,
float[3][3] /*dfdv*/)
{
const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */
float cos_alpha, sin_alpha, cross_section;
@ -1615,7 +1615,7 @@ void SIM_mass_spring_force_edge_wind(
void SIM_mass_spring_force_vertex_wind(Implicit_Data *data,
int v,
float UNUSED(radius),
float /*radius*/,
const float (*winvec)[3])
{
const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */
@ -2206,10 +2206,10 @@ bool SIM_mass_spring_force_spring_bending_hair(Implicit_Data *data,
add_m3_m3m3(data->dFdV[block_jk].m, data->dFdV[block_jk].m, dfk_dvj);
add_m3_m3m3(data->dFdV[block_ik].m, data->dFdV[block_ik].m, dfk_dvi);
/* XXX analytical calculation of derivatives below is incorrect.
* This proved to be difficult, but for now just using the finite difference method for
* estimating the jacobians should be sufficient.
*/
/* XXX analytical calculation of derivatives below is incorrect.
* This proved to be difficult, but for now just using the finite difference method for
* estimating the jacobians should be sufficient.
*/
# if 0
float edge_ij[3], dir_ij[3], grad_dir_ij[3][3];
float edge_jk[3], dir_jk[3], grad_dir_jk[3][3];

0
source/blender/simulation/intern/implicit_eigen.cpp → source/blender/simulation/intern/implicit_eigen.cc
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