3120 lines
96 KiB
C
3120 lines
96 KiB
C
/*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*/
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/** \file
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* \ingroup bke
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*/
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#include <ctype.h>
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#include <float.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "MEM_guardedalloc.h"
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#include "BLI_alloca.h"
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#include "BLI_ghash.h"
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#include "BLI_listbase.h"
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#include "BLI_math.h"
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#include "BLI_string.h"
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#include "BLI_task.h"
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#include "BLI_utildefines.h"
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#include "BLT_translation.h"
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#include "DNA_anim_types.h"
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#include "DNA_armature_types.h"
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#include "DNA_constraint_types.h"
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#include "DNA_gpencil_types.h"
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#include "DNA_lattice_types.h"
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#include "DNA_listBase.h"
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#include "DNA_mesh_types.h"
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#include "DNA_meshdata_types.h"
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#include "DNA_object_types.h"
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#include "DNA_scene_types.h"
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#include "BKE_action.h"
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#include "BKE_anim_visualization.h"
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#include "BKE_armature.h"
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#include "BKE_constraint.h"
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#include "BKE_curve.h"
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#include "BKE_deform.h"
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#include "BKE_displist.h"
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#include "BKE_idprop.h"
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#include "BKE_idtype.h"
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#include "BKE_lattice.h"
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#include "BKE_lib_id.h"
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#include "BKE_main.h"
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#include "BKE_object.h"
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#include "BKE_scene.h"
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#include "DEG_depsgraph_build.h"
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#include "BIK_api.h"
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#include "atomic_ops.h"
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#include "CLG_log.h"
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static CLG_LogRef LOG = {"bke.armature"};
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/*************************** Prototypes ***************************/
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static void copy_bonechildren(Bone *bone_dst,
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const Bone *bone_src,
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const Bone *bone_src_act,
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Bone **r_bone_dst_act,
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const int flag);
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static void copy_bonechildren_custom_handles(Bone *bone_dst, bArmature *arm_dst);
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/*********************** Armature Datablock ***********************/
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/**
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* Only copy internal data of Armature ID from source
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* to already allocated/initialized destination.
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* You probably never want to use that directly,
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* use #BKE_id_copy or #BKE_id_copy_ex for typical needs.
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*
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* WARNING! This function will not handle ID user count!
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*
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* \param flag: Copying options (see BKE_lib_id.h's LIB_ID_COPY_... flags for more).
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*/
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static void armature_copy_data(Main *UNUSED(bmain), ID *id_dst, const ID *id_src, const int flag)
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{
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bArmature *armature_dst = (bArmature *)id_dst;
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const bArmature *armature_src = (const bArmature *)id_src;
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Bone *bone_src, *bone_dst;
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Bone *bone_dst_act = NULL;
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/* We never handle usercount here for own data. */
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const int flag_subdata = flag | LIB_ID_CREATE_NO_USER_REFCOUNT;
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armature_dst->bonehash = NULL;
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BLI_duplicatelist(&armature_dst->bonebase, &armature_src->bonebase);
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/* Duplicate the childrens' lists */
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bone_dst = armature_dst->bonebase.first;
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for (bone_src = armature_src->bonebase.first; bone_src; bone_src = bone_src->next) {
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bone_dst->parent = NULL;
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copy_bonechildren(bone_dst, bone_src, armature_src->act_bone, &bone_dst_act, flag_subdata);
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bone_dst = bone_dst->next;
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}
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armature_dst->act_bone = bone_dst_act;
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BKE_armature_bone_hash_make(armature_dst);
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/* Fix custom handle references. */
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for (bone_dst = armature_dst->bonebase.first; bone_dst; bone_dst = bone_dst->next) {
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copy_bonechildren_custom_handles(bone_dst, armature_dst);
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}
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armature_dst->edbo = NULL;
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armature_dst->act_edbone = NULL;
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}
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/** Free (or release) any data used by this armature (does not free the armature itself). */
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static void armature_free_data(struct ID *id)
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{
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bArmature *armature = (bArmature *)id;
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BKE_armature_bone_hash_free(armature);
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BKE_armature_bonelist_free(&armature->bonebase);
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/* free editmode data */
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if (armature->edbo) {
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BLI_freelistN(armature->edbo);
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MEM_freeN(armature->edbo);
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armature->edbo = NULL;
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}
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}
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IDTypeInfo IDType_ID_AR = {
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.id_code = ID_AR,
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.id_filter = FILTER_ID_AR,
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.main_listbase_index = INDEX_ID_AR,
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.struct_size = sizeof(bArmature),
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.name = "Armature",
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.name_plural = "armatures",
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.translation_context = BLT_I18NCONTEXT_ID_ARMATURE,
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.flags = 0,
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.init_data = NULL,
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.copy_data = armature_copy_data,
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.free_data = armature_free_data,
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.make_local = NULL,
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};
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/* **************** Generic Functions, data level *************** */
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bArmature *BKE_armature_add(Main *bmain, const char *name)
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{
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bArmature *arm;
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arm = BKE_libblock_alloc(bmain, ID_AR, name, 0);
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arm->deformflag = ARM_DEF_VGROUP | ARM_DEF_ENVELOPE;
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arm->flag = ARM_COL_CUSTOM; /* custom bone-group colors */
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arm->layer = 1;
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return arm;
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}
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bArmature *BKE_armature_from_object(Object *ob)
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{
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if (ob->type == OB_ARMATURE) {
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return (bArmature *)ob->data;
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}
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return NULL;
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}
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int BKE_armature_bonelist_count(ListBase *lb)
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{
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int i = 0;
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LISTBASE_FOREACH (Bone *, bone, lb) {
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i += 1 + BKE_armature_bonelist_count(&bone->childbase);
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}
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return i;
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}
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void BKE_armature_bonelist_free(ListBase *lb)
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{
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Bone *bone;
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for (bone = lb->first; bone; bone = bone->next) {
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if (bone->prop) {
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IDP_FreeProperty(bone->prop);
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}
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BKE_armature_bonelist_free(&bone->childbase);
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}
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BLI_freelistN(lb);
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}
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static void copy_bonechildren(Bone *bone_dst,
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const Bone *bone_src,
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const Bone *bone_src_act,
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Bone **r_bone_dst_act,
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const int flag)
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{
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Bone *bone_src_child, *bone_dst_child;
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if (bone_src == bone_src_act) {
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*r_bone_dst_act = bone_dst;
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}
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if (bone_src->prop) {
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bone_dst->prop = IDP_CopyProperty_ex(bone_src->prop, flag);
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}
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/* Copy this bone's list */
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BLI_duplicatelist(&bone_dst->childbase, &bone_src->childbase);
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/* For each child in the list, update it's children */
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for (bone_src_child = bone_src->childbase.first, bone_dst_child = bone_dst->childbase.first;
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bone_src_child;
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bone_src_child = bone_src_child->next, bone_dst_child = bone_dst_child->next) {
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bone_dst_child->parent = bone_dst;
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copy_bonechildren(bone_dst_child, bone_src_child, bone_src_act, r_bone_dst_act, flag);
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}
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}
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static void copy_bonechildren_custom_handles(Bone *bone_dst, bArmature *arm_dst)
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{
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Bone *bone_dst_child;
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if (bone_dst->bbone_prev) {
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bone_dst->bbone_prev = BKE_armature_find_bone_name(arm_dst, bone_dst->bbone_prev->name);
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}
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if (bone_dst->bbone_next) {
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bone_dst->bbone_next = BKE_armature_find_bone_name(arm_dst, bone_dst->bbone_next->name);
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}
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for (bone_dst_child = bone_dst->childbase.first; bone_dst_child;
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bone_dst_child = bone_dst_child->next) {
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copy_bonechildren_custom_handles(bone_dst_child, arm_dst);
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}
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}
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bArmature *BKE_armature_copy(Main *bmain, const bArmature *arm)
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{
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bArmature *arm_copy;
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BKE_id_copy(bmain, &arm->id, (ID **)&arm_copy);
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return arm_copy;
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}
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static void copy_bone_transform(Bone *bone_dst, const Bone *bone_src)
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{
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bone_dst->roll = bone_src->roll;
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copy_v3_v3(bone_dst->head, bone_src->head);
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copy_v3_v3(bone_dst->tail, bone_src->tail);
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copy_m3_m3(bone_dst->bone_mat, bone_src->bone_mat);
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copy_v3_v3(bone_dst->arm_head, bone_src->arm_head);
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copy_v3_v3(bone_dst->arm_tail, bone_src->arm_tail);
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copy_m4_m4(bone_dst->arm_mat, bone_src->arm_mat);
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bone_dst->arm_roll = bone_src->arm_roll;
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}
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void BKE_armature_copy_bone_transforms(bArmature *armature_dst, const bArmature *armature_src)
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{
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Bone *bone_dst = armature_dst->bonebase.first;
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const Bone *bone_src = armature_src->bonebase.first;
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while (bone_dst != NULL) {
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BLI_assert(bone_src != NULL);
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copy_bone_transform(bone_dst, bone_src);
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bone_dst = bone_dst->next;
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bone_src = bone_src->next;
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}
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}
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/** Helper for #ED_armature_transform */
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static void armature_transform_recurse(ListBase *bonebase,
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const float mat[4][4],
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const bool do_props,
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/* Cached from 'mat'. */
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const float mat3[3][3],
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const float scale,
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/* Child bones. */
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const Bone *bone_parent,
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const float arm_mat_parent_inv[4][4])
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{
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LISTBASE_FOREACH (Bone *, bone, bonebase) {
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/* Store the initial bone roll in a matrix, this is needed even for child bones
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* so any change in head/tail doesn't cause the roll to change.
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*
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* Logic here is different to edit-mode because
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* this is calculated in relative to the parent. */
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float roll_mat3_pre[3][3];
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{
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float delta[3];
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sub_v3_v3v3(delta, bone->tail, bone->head);
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vec_roll_to_mat3(delta, bone->roll, roll_mat3_pre);
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if (bone->parent == NULL) {
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mul_m3_m3m3(roll_mat3_pre, mat3, roll_mat3_pre);
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}
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}
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/* Optional, use this for predictable results since the roll is re-calculated below anyway. */
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bone->roll = 0.0f;
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mul_m4_v3(mat, bone->arm_head);
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mul_m4_v3(mat, bone->arm_tail);
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/* Get the new head and tail */
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if (bone_parent) {
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sub_v3_v3v3(bone->head, bone->arm_head, bone_parent->arm_tail);
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sub_v3_v3v3(bone->tail, bone->arm_tail, bone_parent->arm_tail);
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mul_mat3_m4_v3(arm_mat_parent_inv, bone->head);
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mul_mat3_m4_v3(arm_mat_parent_inv, bone->tail);
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}
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else {
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copy_v3_v3(bone->head, bone->arm_head);
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copy_v3_v3(bone->tail, bone->arm_tail);
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}
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/* Now the head/tail have been updated, set the roll back, matching 'roll_mat3_pre'. */
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{
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float roll_mat3_post[3][3], delta_mat3[3][3];
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float delta[3];
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sub_v3_v3v3(delta, bone->tail, bone->head);
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vec_roll_to_mat3(delta, 0.0f, roll_mat3_post);
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invert_m3(roll_mat3_post);
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mul_m3_m3m3(delta_mat3, roll_mat3_post, roll_mat3_pre);
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bone->roll = atan2f(delta_mat3[2][0], delta_mat3[2][2]);
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}
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BKE_armature_where_is_bone(bone, bone_parent, false);
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{
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float arm_mat3[3][3];
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copy_m3_m4(arm_mat3, bone->arm_mat);
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mat3_to_vec_roll(arm_mat3, NULL, &bone->arm_roll);
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}
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if (do_props) {
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bone->rad_head *= scale;
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bone->rad_tail *= scale;
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bone->dist *= scale;
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/* we could be smarter and scale by the matrix along the x & z axis */
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bone->xwidth *= scale;
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bone->zwidth *= scale;
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}
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if (!BLI_listbase_is_empty(&bone->childbase)) {
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float arm_mat_inv[4][4];
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invert_m4_m4(arm_mat_inv, bone->arm_mat);
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armature_transform_recurse(&bone->childbase, mat, do_props, mat3, scale, bone, arm_mat_inv);
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}
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}
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}
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void BKE_armature_transform(bArmature *arm, const float mat[4][4], const bool do_props)
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{
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/* Store the scale of the matrix here to use on envelopes. */
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float scale = mat4_to_scale(mat);
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float mat3[3][3];
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copy_m3_m4(mat3, mat);
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normalize_m3(mat3);
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armature_transform_recurse(&arm->bonebase, mat, do_props, mat3, scale, NULL, NULL);
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}
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static Bone *get_named_bone_bonechildren(ListBase *lb, const char *name)
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{
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Bone *curBone, *rbone;
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for (curBone = lb->first; curBone; curBone = curBone->next) {
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if (STREQ(curBone->name, name)) {
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return curBone;
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}
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rbone = get_named_bone_bonechildren(&curBone->childbase, name);
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if (rbone) {
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return rbone;
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}
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}
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return NULL;
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}
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/**
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* Walk the list until the bone is found (slow!),
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* use #BKE_armature_bone_from_name_map for multiple lookups.
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*/
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Bone *BKE_armature_find_bone_name(bArmature *arm, const char *name)
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{
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if (!arm) {
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return NULL;
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}
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if (arm->bonehash) {
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return BLI_ghash_lookup(arm->bonehash, name);
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}
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return get_named_bone_bonechildren(&arm->bonebase, name);
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}
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static void armature_bone_from_name_insert_recursive(GHash *bone_hash, ListBase *lb)
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{
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LISTBASE_FOREACH (Bone *, bone, lb) {
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BLI_ghash_insert(bone_hash, bone->name, bone);
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armature_bone_from_name_insert_recursive(bone_hash, &bone->childbase);
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}
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}
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/**
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* Create a (name -> bone) map.
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*
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* \note typically #bPose.chanhash us used via #BKE_pose_channel_find_name
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* this is for the cases we can't use pose channels.
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*/
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static GHash *armature_bone_from_name_map(bArmature *arm)
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{
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const int bones_count = BKE_armature_bonelist_count(&arm->bonebase);
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GHash *bone_hash = BLI_ghash_str_new_ex(__func__, bones_count);
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armature_bone_from_name_insert_recursive(bone_hash, &arm->bonebase);
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return bone_hash;
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}
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void BKE_armature_bone_hash_make(bArmature *arm)
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{
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if (!arm->bonehash) {
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arm->bonehash = armature_bone_from_name_map(arm);
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}
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}
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void BKE_armature_bone_hash_free(bArmature *arm)
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{
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if (arm->bonehash) {
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BLI_ghash_free(arm->bonehash, NULL, NULL);
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arm->bonehash = NULL;
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}
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}
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bool BKE_armature_bone_flag_test_recursive(const Bone *bone, int flag)
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{
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if (bone->flag & flag) {
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return true;
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}
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else if (bone->parent) {
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return BKE_armature_bone_flag_test_recursive(bone->parent, flag);
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}
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else {
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return false;
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}
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}
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static void armature_refresh_layer_used_recursive(bArmature *arm, ListBase *bones)
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{
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LISTBASE_FOREACH (Bone *, bone, bones) {
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arm->layer_used |= bone->layer;
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armature_refresh_layer_used_recursive(arm, &bone->childbase);
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}
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}
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/* Update the layers_used variable after bones are moved between layer
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* NOTE: Used to be done in drawing code in 2.7, but that won't work with
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* Copy-on-Write, as drawing uses evaluated copies.
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*/
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void BKE_armature_refresh_layer_used(bArmature *arm)
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{
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|
arm->layer_used = 0;
|
|
armature_refresh_layer_used_recursive(arm, &arm->bonebase);
|
|
}
|
|
|
|
/* Finds the best possible extension to the name on a particular axis. (For renaming, check for
|
|
* unique names afterwards) strip_number: removes number extensions (TODO: not used)
|
|
* axis: the axis to name on
|
|
* head/tail: the head/tail co-ordinate of the bone on the specified axis */
|
|
int bone_autoside_name(
|
|
char name[MAXBONENAME], int UNUSED(strip_number), short axis, float head, float tail)
|
|
{
|
|
unsigned int len;
|
|
char basename[MAXBONENAME] = "";
|
|
char extension[5] = "";
|
|
|
|
len = strlen(name);
|
|
if (len == 0) {
|
|
return 0;
|
|
}
|
|
BLI_strncpy(basename, name, sizeof(basename));
|
|
|
|
/* Figure out extension to append:
|
|
* - The extension to append is based upon the axis that we are working on.
|
|
* - If head happens to be on 0, then we must consider the tail position as well to decide
|
|
* which side the bone is on
|
|
* -> If tail is 0, then it's bone is considered to be on axis, so no extension should be added
|
|
* -> Otherwise, extension is added from perspective of object based on which side tail goes to
|
|
* - If head is non-zero, extension is added from perspective of object based on side head is on
|
|
*/
|
|
if (axis == 2) {
|
|
/* z-axis - vertical (top/bottom) */
|
|
if (IS_EQF(head, 0.0f)) {
|
|
if (tail < 0) {
|
|
strcpy(extension, "Bot");
|
|
}
|
|
else if (tail > 0) {
|
|
strcpy(extension, "Top");
|
|
}
|
|
}
|
|
else {
|
|
if (head < 0) {
|
|
strcpy(extension, "Bot");
|
|
}
|
|
else {
|
|
strcpy(extension, "Top");
|
|
}
|
|
}
|
|
}
|
|
else if (axis == 1) {
|
|
/* y-axis - depth (front/back) */
|
|
if (IS_EQF(head, 0.0f)) {
|
|
if (tail < 0) {
|
|
strcpy(extension, "Fr");
|
|
}
|
|
else if (tail > 0) {
|
|
strcpy(extension, "Bk");
|
|
}
|
|
}
|
|
else {
|
|
if (head < 0) {
|
|
strcpy(extension, "Fr");
|
|
}
|
|
else {
|
|
strcpy(extension, "Bk");
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
/* x-axis - horizontal (left/right) */
|
|
if (IS_EQF(head, 0.0f)) {
|
|
if (tail < 0) {
|
|
strcpy(extension, "R");
|
|
}
|
|
else if (tail > 0) {
|
|
strcpy(extension, "L");
|
|
}
|
|
}
|
|
else {
|
|
if (head < 0) {
|
|
strcpy(extension, "R");
|
|
/* XXX Shouldn't this be simple else, as for z and y axes? */
|
|
}
|
|
else if (head > 0) {
|
|
strcpy(extension, "L");
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Simple name truncation
|
|
* - truncate if there is an extension and it wouldn't be able to fit
|
|
* - otherwise, just append to end
|
|
*/
|
|
if (extension[0]) {
|
|
bool changed = true;
|
|
|
|
while (changed) { /* remove extensions */
|
|
changed = false;
|
|
if (len > 2 && basename[len - 2] == '.') {
|
|
if (basename[len - 1] == 'L' || basename[len - 1] == 'R') { /* L R */
|
|
basename[len - 2] = '\0';
|
|
len -= 2;
|
|
changed = true;
|
|
}
|
|
}
|
|
else if (len > 3 && basename[len - 3] == '.') {
|
|
if ((basename[len - 2] == 'F' && basename[len - 1] == 'r') || /* Fr */
|
|
(basename[len - 2] == 'B' && basename[len - 1] == 'k')) /* Bk */
|
|
{
|
|
basename[len - 3] = '\0';
|
|
len -= 3;
|
|
changed = true;
|
|
}
|
|
}
|
|
else if (len > 4 && basename[len - 4] == '.') {
|
|
if ((basename[len - 3] == 'T' && basename[len - 2] == 'o' &&
|
|
basename[len - 1] == 'p') || /* Top */
|
|
(basename[len - 3] == 'B' && basename[len - 2] == 'o' &&
|
|
basename[len - 1] == 't')) /* Bot */
|
|
{
|
|
basename[len - 4] = '\0';
|
|
len -= 4;
|
|
changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if ((MAXBONENAME - len) < strlen(extension) + 1) { /* add 1 for the '.' */
|
|
strncpy(name, basename, len - strlen(extension));
|
|
}
|
|
|
|
BLI_snprintf(name, MAXBONENAME, "%s.%s", basename, extension);
|
|
|
|
return 1;
|
|
}
|
|
|
|
else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
/* ************* B-Bone support ******************* */
|
|
|
|
/* Compute a set of bezier parameter values that produce approximately equally spaced points. */
|
|
static void equalize_cubic_bezier(const float control[4][3],
|
|
int temp_segments,
|
|
int final_segments,
|
|
float *r_t_points)
|
|
{
|
|
float(*coords)[3] = BLI_array_alloca(coords, temp_segments + 1);
|
|
float *pdist = BLI_array_alloca(pdist, temp_segments + 1);
|
|
|
|
/* Compute the first pass of bezier point coordinates. */
|
|
for (int i = 0; i < 3; i++) {
|
|
BKE_curve_forward_diff_bezier(control[0][i],
|
|
control[1][i],
|
|
control[2][i],
|
|
control[3][i],
|
|
&coords[0][i],
|
|
temp_segments,
|
|
sizeof(*coords));
|
|
}
|
|
|
|
/* Calculate the length of the polyline at each point. */
|
|
pdist[0] = 0.0f;
|
|
|
|
for (int i = 0; i < temp_segments; i++) {
|
|
pdist[i + 1] = pdist[i] + len_v3v3(coords[i], coords[i + 1]);
|
|
}
|
|
|
|
/* Go over distances and calculate new parameter values. */
|
|
float dist_step = pdist[temp_segments] / final_segments;
|
|
|
|
r_t_points[0] = 0.0f;
|
|
|
|
for (int i = 1, nr = 1; i <= final_segments; i++) {
|
|
float dist = i * dist_step;
|
|
|
|
/* We're looking for location (distance) 'dist' in the array. */
|
|
while ((nr < temp_segments) && (dist >= pdist[nr])) {
|
|
nr++;
|
|
}
|
|
|
|
float fac = (pdist[nr] - dist) / (pdist[nr] - pdist[nr - 1]);
|
|
|
|
r_t_points[i] = (nr - fac) / temp_segments;
|
|
}
|
|
|
|
r_t_points[final_segments] = 1.0f;
|
|
}
|
|
|
|
/* Evaluate bezier position and tangent at a specific parameter value
|
|
* using the De Casteljau algorithm. */
|
|
static void evaluate_cubic_bezier(const float control[4][3],
|
|
float t,
|
|
float r_pos[3],
|
|
float r_tangent[3])
|
|
{
|
|
float layer1[3][3];
|
|
interp_v3_v3v3(layer1[0], control[0], control[1], t);
|
|
interp_v3_v3v3(layer1[1], control[1], control[2], t);
|
|
interp_v3_v3v3(layer1[2], control[2], control[3], t);
|
|
|
|
float layer2[2][3];
|
|
interp_v3_v3v3(layer2[0], layer1[0], layer1[1], t);
|
|
interp_v3_v3v3(layer2[1], layer1[1], layer1[2], t);
|
|
|
|
sub_v3_v3v3(r_tangent, layer2[1], layer2[0]);
|
|
madd_v3_v3v3fl(r_pos, layer2[0], r_tangent, t);
|
|
}
|
|
|
|
/* Get "next" and "prev" bones - these are used for handle calculations. */
|
|
void BKE_pchan_bbone_handles_get(bPoseChannel *pchan, bPoseChannel **r_prev, bPoseChannel **r_next)
|
|
{
|
|
if (pchan->bone->bbone_prev_type == BBONE_HANDLE_AUTO) {
|
|
/* Use connected parent. */
|
|
if (pchan->bone->flag & BONE_CONNECTED) {
|
|
*r_prev = pchan->parent;
|
|
}
|
|
else {
|
|
*r_prev = NULL;
|
|
}
|
|
}
|
|
else {
|
|
/* Use the provided bone as prev - leave blank to eliminate this effect altogether. */
|
|
*r_prev = pchan->bbone_prev;
|
|
}
|
|
|
|
if (pchan->bone->bbone_next_type == BBONE_HANDLE_AUTO) {
|
|
/* Use connected child. */
|
|
*r_next = pchan->child;
|
|
}
|
|
else {
|
|
/* Use the provided bone as next - leave blank to eliminate this effect altogether. */
|
|
*r_next = pchan->bbone_next;
|
|
}
|
|
}
|
|
|
|
/* Compute B-Bone spline parameters for the given channel. */
|
|
void BKE_pchan_bbone_spline_params_get(struct bPoseChannel *pchan,
|
|
const bool rest,
|
|
struct BBoneSplineParameters *param)
|
|
{
|
|
bPoseChannel *next, *prev;
|
|
Bone *bone = pchan->bone;
|
|
float imat[4][4], posemat[4][4];
|
|
float delta[3];
|
|
|
|
memset(param, 0, sizeof(*param));
|
|
|
|
param->segments = bone->segments;
|
|
param->length = bone->length;
|
|
|
|
if (!rest) {
|
|
float scale[3];
|
|
|
|
/* Check if we need to take non-uniform bone scaling into account. */
|
|
mat4_to_size(scale, pchan->pose_mat);
|
|
|
|
if (fabsf(scale[0] - scale[1]) > 1e-6f || fabsf(scale[1] - scale[2]) > 1e-6f) {
|
|
param->do_scale = true;
|
|
copy_v3_v3(param->scale, scale);
|
|
}
|
|
}
|
|
|
|
BKE_pchan_bbone_handles_get(pchan, &prev, &next);
|
|
|
|
/* 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 (param->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 h1[3];
|
|
bool done = false;
|
|
|
|
param->use_prev = true;
|
|
|
|
/* Transform previous point inside this bone space. */
|
|
if (bone->bbone_prev_type == BBONE_HANDLE_RELATIVE) {
|
|
/* Use delta movement (from restpose), and apply this relative to the current bone's head. */
|
|
if (rest) {
|
|
/* In restpose, arm_head == pose_head */
|
|
zero_v3(param->prev_h);
|
|
done = true;
|
|
}
|
|
else {
|
|
sub_v3_v3v3(delta, prev->pose_head, prev->bone->arm_head);
|
|
sub_v3_v3v3(h1, pchan->pose_head, delta);
|
|
}
|
|
}
|
|
else if (bone->bbone_prev_type == BBONE_HANDLE_TANGENT) {
|
|
/* Use bone direction by offsetting so that its tail meets current bone's head */
|
|
if (rest) {
|
|
sub_v3_v3v3(delta, prev->bone->arm_tail, prev->bone->arm_head);
|
|
sub_v3_v3v3(h1, bone->arm_head, delta);
|
|
}
|
|
else {
|
|
sub_v3_v3v3(delta, prev->pose_tail, prev->pose_head);
|
|
sub_v3_v3v3(h1, pchan->pose_head, delta);
|
|
}
|
|
}
|
|
else {
|
|
/* Apply special handling for smoothly joining B-Bone chains */
|
|
param->prev_bbone = (prev->bone->segments > 1);
|
|
|
|
/* Use bone head as absolute position. */
|
|
copy_v3_v3(h1, rest ? prev->bone->arm_head : prev->pose_head);
|
|
}
|
|
|
|
if (!done) {
|
|
mul_v3_m4v3(param->prev_h, imat, h1);
|
|
}
|
|
|
|
if (!param->prev_bbone) {
|
|
/* Find the previous roll to interpolate. */
|
|
mul_m4_m4m4(param->prev_mat, imat, rest ? prev->bone->arm_mat : prev->pose_mat);
|
|
}
|
|
}
|
|
|
|
if (next) {
|
|
float h2[3];
|
|
bool done = false;
|
|
|
|
param->use_next = true;
|
|
|
|
/* Transform next point inside this bone space. */
|
|
if (bone->bbone_next_type == BBONE_HANDLE_RELATIVE) {
|
|
/* Use delta movement (from restpose), and apply this relative to the current bone's tail. */
|
|
if (rest) {
|
|
/* In restpose, arm_head == pose_head */
|
|
copy_v3_fl3(param->next_h, 0.0f, param->length, 0.0);
|
|
done = true;
|
|
}
|
|
else {
|
|
sub_v3_v3v3(delta, next->pose_head, next->bone->arm_head);
|
|
add_v3_v3v3(h2, pchan->pose_tail, delta);
|
|
}
|
|
}
|
|
else if (bone->bbone_next_type == BBONE_HANDLE_TANGENT) {
|
|
/* Use bone direction by offsetting so that its head meets current bone's tail */
|
|
if (rest) {
|
|
sub_v3_v3v3(delta, next->bone->arm_tail, next->bone->arm_head);
|
|
add_v3_v3v3(h2, bone->arm_tail, delta);
|
|
}
|
|
else {
|
|
sub_v3_v3v3(delta, next->pose_tail, next->pose_head);
|
|
add_v3_v3v3(h2, pchan->pose_tail, delta);
|
|
}
|
|
}
|
|
else {
|
|
/* Apply special handling for smoothly joining B-Bone chains */
|
|
param->next_bbone = (next->bone->segments > 1);
|
|
|
|
/* Use bone tail as absolute position. */
|
|
copy_v3_v3(h2, rest ? next->bone->arm_tail : next->pose_tail);
|
|
}
|
|
|
|
if (!done) {
|
|
mul_v3_m4v3(param->next_h, imat, h2);
|
|
}
|
|
|
|
/* Find the next roll to interpolate as well. */
|
|
mul_m4_m4m4(param->next_mat, imat, rest ? next->bone->arm_mat : next->pose_mat);
|
|
}
|
|
|
|
/* Add effects from bbone properties over the top
|
|
* - These properties allow users to hand-animate the
|
|
* bone curve/shape, without having to resort to using
|
|
* extra bones
|
|
* - The "bone" level offsets are for defining the restpose
|
|
* shape of the bone (e.g. for curved eyebrows for example).
|
|
* -> In the viewport, it's needed to define what the rest pose
|
|
* looks like
|
|
* -> For "rest == 0", we also still need to have it present
|
|
* so that we can "cancel out" this restpose when it comes
|
|
* time to deform some geometry, it won't cause double transforms.
|
|
* - The "pchan" level offsets are the ones that animators actually
|
|
* end up animating
|
|
*/
|
|
{
|
|
param->ease1 = bone->ease1 + (!rest ? pchan->ease1 : 0.0f);
|
|
param->ease2 = bone->ease2 + (!rest ? pchan->ease2 : 0.0f);
|
|
|
|
param->roll1 = bone->roll1 + (!rest ? pchan->roll1 : 0.0f);
|
|
param->roll2 = bone->roll2 + (!rest ? pchan->roll2 : 0.0f);
|
|
|
|
if (bone->flag & BONE_ADD_PARENT_END_ROLL) {
|
|
if (prev) {
|
|
if (prev->bone) {
|
|
param->roll1 += prev->bone->roll2;
|
|
}
|
|
|
|
if (!rest) {
|
|
param->roll1 += prev->roll2;
|
|
}
|
|
}
|
|
}
|
|
|
|
param->scale_in_x = bone->scale_in_x * (!rest ? pchan->scale_in_x : 1.0f);
|
|
param->scale_in_y = bone->scale_in_y * (!rest ? pchan->scale_in_y : 1.0f);
|
|
param->scale_out_x = bone->scale_out_x * (!rest ? pchan->scale_out_x : 1.0f);
|
|
param->scale_out_y = bone->scale_out_y * (!rest ? pchan->scale_out_y : 1.0f);
|
|
|
|
/* Extra curve x / y */
|
|
param->curve_in_x = bone->curve_in_x + (!rest ? pchan->curve_in_x : 0.0f);
|
|
param->curve_in_y = bone->curve_in_y + (!rest ? pchan->curve_in_y : 0.0f);
|
|
|
|
param->curve_out_x = bone->curve_out_x + (!rest ? pchan->curve_out_x : 0.0f);
|
|
param->curve_out_y = bone->curve_out_y + (!rest ? pchan->curve_out_y : 0.0f);
|
|
}
|
|
}
|
|
|
|
/* Fills the array with the desired amount of bone->segments elements.
|
|
* This calculation is done within unit bone space. */
|
|
void BKE_pchan_bbone_spline_setup(bPoseChannel *pchan,
|
|
const bool rest,
|
|
const bool for_deform,
|
|
Mat4 *result_array)
|
|
{
|
|
BBoneSplineParameters param;
|
|
|
|
BKE_pchan_bbone_spline_params_get(pchan, rest, ¶m);
|
|
|
|
pchan->bone->segments = BKE_pchan_bbone_spline_compute(¶m, for_deform, result_array);
|
|
}
|
|
|
|
/* Computes the bezier handle vectors and rolls coming from custom handles. */
|
|
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)
|
|
{
|
|
float mat3[3][3];
|
|
float length = param->length;
|
|
float epsilon = 1e-5 * length;
|
|
|
|
if (param->do_scale) {
|
|
length *= param->scale[1];
|
|
}
|
|
|
|
*r_roll1 = *r_roll2 = 0.0f;
|
|
|
|
if (param->use_prev) {
|
|
copy_v3_v3(h1, param->prev_h);
|
|
|
|
if (param->prev_bbone) {
|
|
/* If previous bone is B-bone too, use average handle direction. */
|
|
h1[1] -= length;
|
|
}
|
|
|
|
if (normalize_v3(h1) < epsilon) {
|
|
copy_v3_fl3(h1, 0.0f, -1.0f, 0.0f);
|
|
}
|
|
|
|
negate_v3(h1);
|
|
|
|
if (!param->prev_bbone) {
|
|
/* Find the previous roll to interpolate. */
|
|
copy_m3_m4(mat3, param->prev_mat);
|
|
mat3_vec_to_roll(mat3, h1, r_roll1);
|
|
}
|
|
}
|
|
else {
|
|
h1[0] = 0.0f;
|
|
h1[1] = 1.0;
|
|
h1[2] = 0.0f;
|
|
}
|
|
|
|
if (param->use_next) {
|
|
copy_v3_v3(h2, param->next_h);
|
|
|
|
/* If next bone is B-bone too, use average handle direction. */
|
|
if (param->next_bbone) {
|
|
/* pass */
|
|
}
|
|
else {
|
|
h2[1] -= length;
|
|
}
|
|
|
|
if (normalize_v3(h2) < epsilon) {
|
|
copy_v3_fl3(h2, 0.0f, 1.0f, 0.0f);
|
|
}
|
|
|
|
/* Find the next roll to interpolate as well. */
|
|
copy_m3_m4(mat3, param->next_mat);
|
|
mat3_vec_to_roll(mat3, h2, r_roll2);
|
|
}
|
|
else {
|
|
h2[0] = 0.0f;
|
|
h2[1] = 1.0f;
|
|
h2[2] = 0.0f;
|
|
}
|
|
|
|
if (ease) {
|
|
const float circle_factor = length * (cubic_tangent_factor_circle_v3(h1, h2) / 0.75f);
|
|
|
|
const float hlength1 = param->ease1 * circle_factor;
|
|
const float hlength2 = param->ease2 * circle_factor;
|
|
|
|
/* and only now negate h2 */
|
|
mul_v3_fl(h1, hlength1);
|
|
mul_v3_fl(h2, -hlength2);
|
|
}
|
|
|
|
/* Add effects from bbone properties over the top
|
|
* - These properties allow users to hand-animate the
|
|
* bone curve/shape, without having to resort to using
|
|
* extra bones
|
|
* - The "bone" level offsets are for defining the rest-pose
|
|
* shape of the bone (e.g. for curved eyebrows for example).
|
|
* -> In the viewport, it's needed to define what the rest pose
|
|
* looks like
|
|
* -> For "rest == 0", we also still need to have it present
|
|
* so that we can "cancel out" this rest-pose when it comes
|
|
* time to deform some geometry, it won't cause double transforms.
|
|
* - The "pchan" level offsets are the ones that animators actually
|
|
* end up animating
|
|
*/
|
|
if (offsets) {
|
|
/* Add extra rolls. */
|
|
*r_roll1 += param->roll1;
|
|
*r_roll2 += param->roll2;
|
|
|
|
/* Extra curve x / y */
|
|
/* NOTE:
|
|
* Scale correction factors here are to compensate for some random floating-point glitches
|
|
* when scaling up the bone or it's parent by a factor of approximately 8.15/6, which results
|
|
* in the bone length getting scaled up too (from 1 to 8), causing the curve to flatten out.
|
|
*/
|
|
const float xscale_correction = (param->do_scale) ? param->scale[0] : 1.0f;
|
|
const float yscale_correction = (param->do_scale) ? param->scale[2] : 1.0f;
|
|
|
|
h1[0] += param->curve_in_x * xscale_correction;
|
|
h1[2] += param->curve_in_y * yscale_correction;
|
|
|
|
h2[0] += param->curve_out_x * xscale_correction;
|
|
h2[2] += param->curve_out_y * yscale_correction;
|
|
}
|
|
}
|
|
|
|
static void make_bbone_spline_matrix(BBoneSplineParameters *param,
|
|
const float scalemats[2][4][4],
|
|
const float pos[3],
|
|
const float axis[3],
|
|
float roll,
|
|
float scalex,
|
|
float scaley,
|
|
float result[4][4])
|
|
{
|
|
float mat3[3][3];
|
|
|
|
vec_roll_to_mat3(axis, roll, mat3);
|
|
|
|
copy_m4_m3(result, mat3);
|
|
copy_v3_v3(result[3], pos);
|
|
|
|
if (param->do_scale) {
|
|
/* Correct for scaling when this matrix is used in scaled space. */
|
|
mul_m4_series(result, scalemats[0], result, scalemats[1]);
|
|
}
|
|
|
|
/* BBone scale... */
|
|
mul_v3_fl(result[0], scalex);
|
|
mul_v3_fl(result[2], scaley);
|
|
}
|
|
|
|
/* Fade from first to second derivative when the handle is very short. */
|
|
static void ease_handle_axis(const float deriv1[3], const float deriv2[3], float r_axis[3])
|
|
{
|
|
const float gap = 0.1f;
|
|
|
|
copy_v3_v3(r_axis, deriv1);
|
|
|
|
float len1 = len_squared_v3(deriv1), len2 = len_squared_v3(deriv2);
|
|
float ratio = len1 / len2;
|
|
|
|
if (ratio < gap * gap) {
|
|
madd_v3_v3fl(r_axis, deriv2, gap - sqrtf(ratio));
|
|
}
|
|
}
|
|
|
|
/* Fills the array with the desired amount of bone->segments elements.
|
|
* This calculation is done within unit bone space. */
|
|
int BKE_pchan_bbone_spline_compute(BBoneSplineParameters *param,
|
|
const bool for_deform,
|
|
Mat4 *result_array)
|
|
{
|
|
float scalemats[2][4][4];
|
|
float bezt_controls[4][3];
|
|
float h1[3], roll1, h2[3], roll2, prev[3], cur[3], axis[3];
|
|
float length = param->length;
|
|
|
|
if (param->do_scale) {
|
|
size_to_mat4(scalemats[1], param->scale);
|
|
invert_m4_m4(scalemats[0], scalemats[1]);
|
|
|
|
length *= param->scale[1];
|
|
}
|
|
|
|
BKE_pchan_bbone_handles_compute(param, h1, &roll1, h2, &roll2, true, true);
|
|
|
|
/* Make curve. */
|
|
CLAMP_MAX(param->segments, MAX_BBONE_SUBDIV);
|
|
|
|
copy_v3_fl3(bezt_controls[3], 0.0f, length, 0.0f);
|
|
add_v3_v3v3(bezt_controls[2], bezt_controls[3], h2);
|
|
copy_v3_v3(bezt_controls[1], h1);
|
|
zero_v3(bezt_controls[0]);
|
|
|
|
float bezt_points[MAX_BBONE_SUBDIV + 1];
|
|
|
|
equalize_cubic_bezier(bezt_controls, MAX_BBONE_SUBDIV, param->segments, bezt_points);
|
|
|
|
/* Deformation uses N+1 matrices computed at points between the segments. */
|
|
if (for_deform) {
|
|
/* Bezier derivatives. */
|
|
float bezt_deriv1[3][3], bezt_deriv2[2][3];
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
sub_v3_v3v3(bezt_deriv1[i], bezt_controls[i + 1], bezt_controls[i]);
|
|
}
|
|
for (int i = 0; i < 2; i++) {
|
|
sub_v3_v3v3(bezt_deriv2[i], bezt_deriv1[i + 1], bezt_deriv1[i]);
|
|
}
|
|
|
|
/* End points require special handling to fix zero length handles. */
|
|
ease_handle_axis(bezt_deriv1[0], bezt_deriv2[0], axis);
|
|
make_bbone_spline_matrix(param,
|
|
scalemats,
|
|
bezt_controls[0],
|
|
axis,
|
|
roll1,
|
|
param->scale_in_x,
|
|
param->scale_in_y,
|
|
result_array[0].mat);
|
|
|
|
for (int a = 1; a < param->segments; a++) {
|
|
evaluate_cubic_bezier(bezt_controls, bezt_points[a], cur, axis);
|
|
|
|
float fac = ((float)a) / param->segments;
|
|
float roll = interpf(roll2, roll1, fac);
|
|
float scalex = interpf(param->scale_out_x, param->scale_in_x, fac);
|
|
float scaley = interpf(param->scale_out_y, param->scale_in_y, fac);
|
|
|
|
make_bbone_spline_matrix(
|
|
param, scalemats, cur, axis, roll, scalex, scaley, result_array[a].mat);
|
|
}
|
|
|
|
negate_v3(bezt_deriv2[1]);
|
|
ease_handle_axis(bezt_deriv1[2], bezt_deriv2[1], axis);
|
|
make_bbone_spline_matrix(param,
|
|
scalemats,
|
|
bezt_controls[3],
|
|
axis,
|
|
roll2,
|
|
param->scale_out_x,
|
|
param->scale_out_y,
|
|
result_array[param->segments].mat);
|
|
}
|
|
/* Other code (e.g. display) uses matrices for the segments themselves. */
|
|
else {
|
|
zero_v3(prev);
|
|
|
|
for (int a = 0; a < param->segments; a++) {
|
|
evaluate_cubic_bezier(bezt_controls, bezt_points[a + 1], cur, axis);
|
|
|
|
sub_v3_v3v3(axis, cur, prev);
|
|
|
|
float fac = (a + 0.5f) / param->segments;
|
|
float roll = interpf(roll2, roll1, fac);
|
|
float scalex = interpf(param->scale_out_x, param->scale_in_x, fac);
|
|
float scaley = interpf(param->scale_out_y, param->scale_in_y, fac);
|
|
|
|
make_bbone_spline_matrix(
|
|
param, scalemats, prev, axis, roll, scalex, scaley, result_array[a].mat);
|
|
copy_v3_v3(prev, cur);
|
|
}
|
|
}
|
|
|
|
return param->segments;
|
|
}
|
|
|
|
/* ************ Armature Deform ******************* */
|
|
|
|
static void allocate_bbone_cache(bPoseChannel *pchan, int segments)
|
|
{
|
|
bPoseChannel_Runtime *runtime = &pchan->runtime;
|
|
|
|
if (runtime->bbone_segments != segments) {
|
|
BKE_pose_channel_free_bbone_cache(runtime);
|
|
|
|
runtime->bbone_segments = segments;
|
|
runtime->bbone_rest_mats = MEM_malloc_arrayN(
|
|
sizeof(Mat4), 1 + (uint)segments, "bPoseChannel_Runtime::bbone_rest_mats");
|
|
runtime->bbone_pose_mats = MEM_malloc_arrayN(
|
|
sizeof(Mat4), 1 + (uint)segments, "bPoseChannel_Runtime::bbone_pose_mats");
|
|
runtime->bbone_deform_mats = MEM_malloc_arrayN(
|
|
sizeof(Mat4), 2 + (uint)segments, "bPoseChannel_Runtime::bbone_deform_mats");
|
|
runtime->bbone_dual_quats = MEM_malloc_arrayN(
|
|
sizeof(DualQuat), 1 + (uint)segments, "bPoseChannel_Runtime::bbone_dual_quats");
|
|
}
|
|
}
|
|
|
|
/** Compute and cache the B-Bone shape in the channel runtime struct. */
|
|
void BKE_pchan_bbone_segments_cache_compute(bPoseChannel *pchan)
|
|
{
|
|
bPoseChannel_Runtime *runtime = &pchan->runtime;
|
|
Bone *bone = pchan->bone;
|
|
int segments = bone->segments;
|
|
|
|
BLI_assert(segments > 1);
|
|
|
|
/* Allocate the cache if needed. */
|
|
allocate_bbone_cache(pchan, segments);
|
|
|
|
/* Compute the shape. */
|
|
Mat4 *b_bone = runtime->bbone_pose_mats;
|
|
Mat4 *b_bone_rest = runtime->bbone_rest_mats;
|
|
Mat4 *b_bone_mats = runtime->bbone_deform_mats;
|
|
DualQuat *b_bone_dual_quats = runtime->bbone_dual_quats;
|
|
int a;
|
|
|
|
BKE_pchan_bbone_spline_setup(pchan, false, true, b_bone);
|
|
BKE_pchan_bbone_spline_setup(pchan, true, true, b_bone_rest);
|
|
|
|
/* Compute deform matrices. */
|
|
/* first matrix is the inverse arm_mat, to bring points in local bone space
|
|
* for finding out which segment it belongs to */
|
|
invert_m4_m4(b_bone_mats[0].mat, bone->arm_mat);
|
|
|
|
/* then we make the b_bone_mats:
|
|
* - first transform to local bone space
|
|
* - translate over the curve to the bbone mat space
|
|
* - transform with b_bone matrix
|
|
* - transform back into global space */
|
|
|
|
for (a = 0; a <= bone->segments; a++) {
|
|
float tmat[4][4];
|
|
|
|
invert_m4_m4(tmat, b_bone_rest[a].mat);
|
|
mul_m4_series(b_bone_mats[a + 1].mat,
|
|
pchan->chan_mat,
|
|
bone->arm_mat,
|
|
b_bone[a].mat,
|
|
tmat,
|
|
b_bone_mats[0].mat);
|
|
|
|
mat4_to_dquat(&b_bone_dual_quats[a], bone->arm_mat, b_bone_mats[a + 1].mat);
|
|
}
|
|
}
|
|
|
|
/** Copy cached B-Bone segments from one channel to another */
|
|
void BKE_pchan_bbone_segments_cache_copy(bPoseChannel *pchan, bPoseChannel *pchan_from)
|
|
{
|
|
bPoseChannel_Runtime *runtime = &pchan->runtime;
|
|
bPoseChannel_Runtime *runtime_from = &pchan_from->runtime;
|
|
int segments = runtime_from->bbone_segments;
|
|
|
|
if (segments <= 1) {
|
|
BKE_pose_channel_free_bbone_cache(&pchan->runtime);
|
|
}
|
|
else {
|
|
allocate_bbone_cache(pchan, segments);
|
|
|
|
memcpy(runtime->bbone_rest_mats, runtime_from->bbone_rest_mats, sizeof(Mat4) * (1 + segments));
|
|
memcpy(runtime->bbone_pose_mats, runtime_from->bbone_pose_mats, sizeof(Mat4) * (1 + segments));
|
|
memcpy(runtime->bbone_deform_mats,
|
|
runtime_from->bbone_deform_mats,
|
|
sizeof(Mat4) * (2 + segments));
|
|
memcpy(runtime->bbone_dual_quats,
|
|
runtime_from->bbone_dual_quats,
|
|
sizeof(DualQuat) * (1 + segments));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Calculate index and blend factor for the two B-Bone segment nodes
|
|
* affecting the point at 0 <= pos <= 1.
|
|
*/
|
|
void BKE_pchan_bbone_deform_segment_index(const bPoseChannel *pchan,
|
|
float pos,
|
|
int *r_index,
|
|
float *r_blend_next)
|
|
{
|
|
int segments = pchan->bone->segments;
|
|
|
|
CLAMP(pos, 0.0f, 1.0f);
|
|
|
|
/* Calculate the indices of the 2 affecting b_bone segments.
|
|
* Integer part is the first segment's index.
|
|
* Integer part plus 1 is the second segment's index.
|
|
* Fractional part is the blend factor. */
|
|
float pre_blend = pos * (float)segments;
|
|
|
|
int index = (int)floorf(pre_blend);
|
|
CLAMP(index, 0, segments - 1);
|
|
|
|
float blend = pre_blend - index;
|
|
CLAMP(blend, 0.0f, 1.0f);
|
|
|
|
*r_index = index;
|
|
*r_blend_next = blend;
|
|
}
|
|
|
|
/* Add the effect of one bone or B-Bone segment to the accumulated result. */
|
|
static void pchan_deform_accumulate(const DualQuat *deform_dq,
|
|
const float deform_mat[4][4],
|
|
const float co_in[3],
|
|
float weight,
|
|
float co_accum[3],
|
|
DualQuat *dq_accum,
|
|
float mat_accum[3][3])
|
|
{
|
|
if (weight == 0.0f) {
|
|
return;
|
|
}
|
|
|
|
if (dq_accum) {
|
|
BLI_assert(!co_accum);
|
|
|
|
add_weighted_dq_dq(dq_accum, deform_dq, weight);
|
|
}
|
|
else {
|
|
float tmp[3];
|
|
mul_v3_m4v3(tmp, deform_mat, co_in);
|
|
|
|
sub_v3_v3(tmp, co_in);
|
|
madd_v3_v3fl(co_accum, tmp, weight);
|
|
|
|
if (mat_accum) {
|
|
float tmpmat[3][3];
|
|
copy_m3_m4(tmpmat, deform_mat);
|
|
|
|
madd_m3_m3m3fl(mat_accum, mat_accum, tmpmat, weight);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void b_bone_deform(const bPoseChannel *pchan,
|
|
const float co[3],
|
|
float weight,
|
|
float vec[3],
|
|
DualQuat *dq,
|
|
float defmat[3][3])
|
|
{
|
|
const DualQuat *quats = pchan->runtime.bbone_dual_quats;
|
|
const Mat4 *mats = pchan->runtime.bbone_deform_mats;
|
|
const float(*mat)[4] = mats[0].mat;
|
|
float blend, y;
|
|
int index;
|
|
|
|
/* Transform co to bone space and get its y component. */
|
|
y = mat[0][1] * co[0] + mat[1][1] * co[1] + mat[2][1] * co[2] + mat[3][1];
|
|
|
|
/* Calculate the indices of the 2 affecting b_bone segments. */
|
|
BKE_pchan_bbone_deform_segment_index(pchan, y / pchan->bone->length, &index, &blend);
|
|
|
|
pchan_deform_accumulate(
|
|
&quats[index], mats[index + 1].mat, co, weight * (1.0f - blend), vec, dq, defmat);
|
|
pchan_deform_accumulate(
|
|
&quats[index + 1], mats[index + 2].mat, co, weight * blend, vec, dq, defmat);
|
|
}
|
|
|
|
/* using vec with dist to bone b1 - b2 */
|
|
float distfactor_to_bone(
|
|
const float vec[3], const float b1[3], const float b2[3], float rad1, float rad2, float rdist)
|
|
{
|
|
float dist_sq;
|
|
float bdelta[3];
|
|
float pdelta[3];
|
|
float hsqr, a, l, rad;
|
|
|
|
sub_v3_v3v3(bdelta, b2, b1);
|
|
l = normalize_v3(bdelta);
|
|
|
|
sub_v3_v3v3(pdelta, vec, b1);
|
|
|
|
a = dot_v3v3(bdelta, pdelta);
|
|
hsqr = len_squared_v3(pdelta);
|
|
|
|
if (a < 0.0f) {
|
|
/* If we're past the end of the bone, do a spherical field attenuation thing */
|
|
dist_sq = len_squared_v3v3(b1, vec);
|
|
rad = rad1;
|
|
}
|
|
else if (a > l) {
|
|
/* If we're past the end of the bone, do a spherical field attenuation thing */
|
|
dist_sq = len_squared_v3v3(b2, vec);
|
|
rad = rad2;
|
|
}
|
|
else {
|
|
dist_sq = (hsqr - (a * a));
|
|
|
|
if (l != 0.0f) {
|
|
rad = a / l;
|
|
rad = rad * rad2 + (1.0f - rad) * rad1;
|
|
}
|
|
else {
|
|
rad = rad1;
|
|
}
|
|
}
|
|
|
|
a = rad * rad;
|
|
if (dist_sq < a) {
|
|
return 1.0f;
|
|
}
|
|
else {
|
|
l = rad + rdist;
|
|
l *= l;
|
|
if (rdist == 0.0f || dist_sq >= l) {
|
|
return 0.0f;
|
|
}
|
|
else {
|
|
a = sqrtf(dist_sq) - rad;
|
|
return 1.0f - (a * a) / (rdist * rdist);
|
|
}
|
|
}
|
|
}
|
|
|
|
static float dist_bone_deform(
|
|
bPoseChannel *pchan, float vec[3], DualQuat *dq, float mat[3][3], const float co[3])
|
|
{
|
|
Bone *bone = pchan->bone;
|
|
float fac, contrib = 0.0;
|
|
|
|
if (bone == NULL) {
|
|
return 0.0f;
|
|
}
|
|
|
|
fac = distfactor_to_bone(
|
|
co, 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 (bone->segments > 1 && pchan->runtime.bbone_segments == bone->segments) {
|
|
b_bone_deform(pchan, co, fac, vec, dq, mat);
|
|
}
|
|
else {
|
|
pchan_deform_accumulate(
|
|
&pchan->runtime.deform_dual_quat, pchan->chan_mat, co, fac, vec, dq, mat);
|
|
}
|
|
}
|
|
}
|
|
|
|
return contrib;
|
|
}
|
|
|
|
static void pchan_bone_deform(bPoseChannel *pchan,
|
|
float weight,
|
|
float vec[3],
|
|
DualQuat *dq,
|
|
float mat[3][3],
|
|
const float co[3],
|
|
float *contrib)
|
|
{
|
|
Bone *bone = pchan->bone;
|
|
|
|
if (!weight) {
|
|
return;
|
|
}
|
|
|
|
if (bone->segments > 1 && pchan->runtime.bbone_segments == bone->segments) {
|
|
b_bone_deform(pchan, co, weight, vec, dq, mat);
|
|
}
|
|
else {
|
|
pchan_deform_accumulate(
|
|
&pchan->runtime.deform_dual_quat, pchan->chan_mat, co, weight, vec, dq, mat);
|
|
}
|
|
|
|
(*contrib) += weight;
|
|
}
|
|
|
|
typedef struct ArmatureUserdata {
|
|
Object *armOb;
|
|
Object *target;
|
|
const Mesh *mesh;
|
|
float (*vertexCos)[3];
|
|
float (*defMats)[3][3];
|
|
float (*prevCos)[3];
|
|
|
|
bool use_envelope;
|
|
bool use_quaternion;
|
|
bool invert_vgroup;
|
|
bool use_dverts;
|
|
|
|
int armature_def_nr;
|
|
|
|
int target_totvert;
|
|
MDeformVert *dverts;
|
|
|
|
int defbase_tot;
|
|
bPoseChannel **defnrToPC;
|
|
|
|
float premat[4][4];
|
|
float postmat[4][4];
|
|
} ArmatureUserdata;
|
|
|
|
static void armature_vert_task(void *__restrict userdata,
|
|
const int i,
|
|
const TaskParallelTLS *__restrict UNUSED(tls))
|
|
{
|
|
const ArmatureUserdata *data = userdata;
|
|
float(*const vertexCos)[3] = data->vertexCos;
|
|
float(*const defMats)[3][3] = data->defMats;
|
|
float(*const prevCos)[3] = data->prevCos;
|
|
const bool use_envelope = data->use_envelope;
|
|
const bool use_quaternion = data->use_quaternion;
|
|
const bool use_dverts = data->use_dverts;
|
|
const int armature_def_nr = data->armature_def_nr;
|
|
|
|
MDeformVert *dvert;
|
|
DualQuat sumdq, *dq = NULL;
|
|
bPoseChannel *pchan;
|
|
float *co, dco[3];
|
|
float sumvec[3], summat[3][3];
|
|
float *vec = NULL, (*smat)[3] = NULL;
|
|
float contrib = 0.0f;
|
|
float armature_weight = 1.0f; /* default to 1 if no overall def group */
|
|
float prevco_weight = 1.0f; /* weight for optional cached vertexcos */
|
|
|
|
if (use_quaternion) {
|
|
memset(&sumdq, 0, sizeof(DualQuat));
|
|
dq = &sumdq;
|
|
}
|
|
else {
|
|
sumvec[0] = sumvec[1] = sumvec[2] = 0.0f;
|
|
vec = sumvec;
|
|
|
|
if (defMats) {
|
|
zero_m3(summat);
|
|
smat = summat;
|
|
}
|
|
}
|
|
|
|
if (use_dverts || armature_def_nr != -1) {
|
|
if (data->mesh) {
|
|
BLI_assert(i < data->mesh->totvert);
|
|
if (data->mesh->dvert != NULL) {
|
|
dvert = data->mesh->dvert + i;
|
|
}
|
|
else {
|
|
dvert = NULL;
|
|
}
|
|
}
|
|
else if (data->dverts && i < data->target_totvert) {
|
|
dvert = data->dverts + i;
|
|
}
|
|
else {
|
|
dvert = NULL;
|
|
}
|
|
}
|
|
else {
|
|
dvert = NULL;
|
|
}
|
|
|
|
if (armature_def_nr != -1 && dvert) {
|
|
armature_weight = BKE_defvert_find_weight(dvert, armature_def_nr);
|
|
|
|
if (data->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) {
|
|
return;
|
|
}
|
|
|
|
/* get the coord we work on */
|
|
co = prevCos ? prevCos[i] : vertexCos[i];
|
|
|
|
/* Apply the object's matrix */
|
|
mul_m4_v3(data->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 uint index = dw->def_nr;
|
|
if (index < data->defbase_tot && (pchan = data->defnrToPC[index])) {
|
|
float weight = dw->weight;
|
|
Bone *bone = pchan->bone;
|
|
|
|
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, weight, vec, dq, smat, co, &contrib);
|
|
}
|
|
}
|
|
/* if there are vertexgroups but not groups with bones
|
|
* (like for softbody groups) */
|
|
if (deformed == 0 && use_envelope) {
|
|
for (pchan = data->armOb->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
if (!(pchan->bone->flag & BONE_NO_DEFORM)) {
|
|
contrib += dist_bone_deform(pchan, vec, dq, smat, co);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else if (use_envelope) {
|
|
for (pchan = data->armOb->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
if (!(pchan->bone->flag & BONE_NO_DEFORM)) {
|
|
contrib += dist_bone_deform(pchan, 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, data->premat);
|
|
copy_m3_m4(post, data->postmat);
|
|
copy_m3_m3(tmpmat, defMats[i]);
|
|
|
|
if (!use_quaternion) { /* quaternion already is scale corrected */
|
|
mul_m3_fl(smat, armature_weight / contrib);
|
|
}
|
|
|
|
mul_m3_series(defMats[i], post, smat, pre, tmpmat);
|
|
}
|
|
}
|
|
|
|
/* always, check above code */
|
|
mul_m4_v3(data->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];
|
|
}
|
|
}
|
|
|
|
void armature_deform_verts(Object *armOb,
|
|
Object *target,
|
|
const Mesh *mesh,
|
|
float (*vertexCos)[3],
|
|
float (*defMats)[3][3],
|
|
int numVerts,
|
|
int deformflag,
|
|
float (*prevCos)[3],
|
|
const char *defgrp_name,
|
|
bGPDstroke *gps)
|
|
{
|
|
bArmature *arm = armOb->data;
|
|
bPoseChannel **defnrToPC = NULL;
|
|
MDeformVert *dverts = NULL;
|
|
bDeformGroup *dg;
|
|
const bool use_envelope = (deformflag & ARM_DEF_ENVELOPE) != 0;
|
|
const bool use_quaternion = (deformflag & ARM_DEF_QUATERNION) != 0;
|
|
const bool invert_vgroup = (deformflag & ARM_DEF_INVERT_VGROUP) != 0;
|
|
int defbase_tot = 0; /* safety for vertexgroup index overflow */
|
|
int i, target_totvert = 0; /* safety for vertexgroup overflow */
|
|
bool use_dverts = false;
|
|
int armature_def_nr;
|
|
|
|
/* in editmode, or not an armature */
|
|
if (arm->edbo || (armOb->pose == NULL)) {
|
|
return;
|
|
}
|
|
|
|
if ((armOb->pose->flag & POSE_RECALC) != 0) {
|
|
CLOG_ERROR(&LOG,
|
|
"Trying to evaluate influence of armature '%s' which needs Pose recalc!",
|
|
armOb->id.name);
|
|
BLI_assert(0);
|
|
}
|
|
|
|
/* get the def_nr for the overall armature vertex group if present */
|
|
armature_def_nr = BKE_object_defgroup_name_index(target, defgrp_name);
|
|
|
|
if (ELEM(target->type, OB_MESH, OB_LATTICE, OB_GPENCIL)) {
|
|
defbase_tot = BLI_listbase_count(&target->defbase);
|
|
|
|
if (target->type == OB_MESH) {
|
|
Mesh *me = target->data;
|
|
dverts = me->dvert;
|
|
if (dverts) {
|
|
target_totvert = me->totvert;
|
|
}
|
|
}
|
|
else if (target->type == OB_LATTICE) {
|
|
Lattice *lt = target->data;
|
|
dverts = lt->dvert;
|
|
if (dverts) {
|
|
target_totvert = lt->pntsu * lt->pntsv * lt->pntsw;
|
|
}
|
|
}
|
|
else if (target->type == OB_GPENCIL) {
|
|
dverts = gps->dvert;
|
|
if (dverts) {
|
|
target_totvert = gps->totpoints;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* get a vertex-deform-index to posechannel array */
|
|
if (deformflag & ARM_DEF_VGROUP) {
|
|
if (ELEM(target->type, OB_MESH, OB_LATTICE, OB_GPENCIL)) {
|
|
/* if we have a Mesh, only use dverts if it has them */
|
|
if (mesh) {
|
|
use_dverts = (mesh->dvert != NULL);
|
|
}
|
|
else if (dverts) {
|
|
use_dverts = true;
|
|
}
|
|
|
|
if (use_dverts) {
|
|
defnrToPC = MEM_callocN(sizeof(*defnrToPC) * defbase_tot, "defnrToBone");
|
|
/* TODO(sergey): Some considerations here:
|
|
*
|
|
* - Check whether keeping this consistent across frames gives speedup.
|
|
*/
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
ArmatureUserdata data = {.armOb = armOb,
|
|
.target = target,
|
|
.mesh = mesh,
|
|
.vertexCos = vertexCos,
|
|
.defMats = defMats,
|
|
.prevCos = prevCos,
|
|
.use_envelope = use_envelope,
|
|
.use_quaternion = use_quaternion,
|
|
.invert_vgroup = invert_vgroup,
|
|
.use_dverts = use_dverts,
|
|
.armature_def_nr = armature_def_nr,
|
|
.target_totvert = target_totvert,
|
|
.dverts = dverts,
|
|
.defbase_tot = defbase_tot,
|
|
.defnrToPC = defnrToPC};
|
|
|
|
float obinv[4][4];
|
|
invert_m4_m4(obinv, target->obmat);
|
|
|
|
mul_m4_m4m4(data.postmat, obinv, armOb->obmat);
|
|
invert_m4_m4(data.premat, data.postmat);
|
|
|
|
TaskParallelSettings settings;
|
|
BLI_parallel_range_settings_defaults(&settings);
|
|
settings.min_iter_per_thread = 32;
|
|
BLI_task_parallel_range(0, numVerts, &data, armature_vert_task, &settings);
|
|
|
|
if (defnrToPC) {
|
|
MEM_freeN(defnrToPC);
|
|
}
|
|
}
|
|
|
|
/* ************ END Armature Deform ******************* */
|
|
|
|
void get_objectspace_bone_matrix(struct Bone *bone,
|
|
float M_accumulatedMatrix[4][4],
|
|
int UNUSED(root),
|
|
int UNUSED(posed))
|
|
{
|
|
copy_m4_m4(M_accumulatedMatrix, bone->arm_mat);
|
|
}
|
|
|
|
/* **************** Space to Space API ****************** */
|
|
|
|
/* Convert World-Space Matrix to Pose-Space Matrix */
|
|
void BKE_armature_mat_world_to_pose(Object *ob, float inmat[4][4], float outmat[4][4])
|
|
{
|
|
float obmat[4][4];
|
|
|
|
/* prevent crashes */
|
|
if (ob == NULL) {
|
|
return;
|
|
}
|
|
|
|
/* get inverse of (armature) object's matrix */
|
|
invert_m4_m4(obmat, ob->obmat);
|
|
|
|
/* multiply given matrix by object's-inverse to find pose-space matrix */
|
|
mul_m4_m4m4(outmat, inmat, obmat);
|
|
}
|
|
|
|
/* Convert World-Space Location to Pose-Space Location
|
|
* NOTE: this cannot be used to convert to pose-space location of the supplied
|
|
* pose-channel into its local space (i.e. 'visual'-keyframing) */
|
|
void BKE_armature_loc_world_to_pose(Object *ob, const float inloc[3], float outloc[3])
|
|
{
|
|
float xLocMat[4][4];
|
|
float nLocMat[4][4];
|
|
|
|
/* build matrix for location */
|
|
unit_m4(xLocMat);
|
|
copy_v3_v3(xLocMat[3], inloc);
|
|
|
|
/* get bone-space cursor matrix and extract location */
|
|
BKE_armature_mat_world_to_pose(ob, xLocMat, nLocMat);
|
|
copy_v3_v3(outloc, nLocMat[3]);
|
|
}
|
|
|
|
/* Simple helper, computes the offset bone matrix.
|
|
* offs_bone = yoffs(b-1) + root(b) + bonemat(b). */
|
|
void BKE_bone_offset_matrix_get(const Bone *bone, float offs_bone[4][4])
|
|
{
|
|
BLI_assert(bone->parent != NULL);
|
|
|
|
/* Bone transform itself. */
|
|
copy_m4_m3(offs_bone, bone->bone_mat);
|
|
|
|
/* The bone's root offset (is in the parent's coordinate system). */
|
|
copy_v3_v3(offs_bone[3], bone->head);
|
|
|
|
/* Get the length translation of parent (length along y axis). */
|
|
offs_bone[3][1] += bone->parent->length;
|
|
}
|
|
|
|
/* Construct the matrices (rot/scale and loc)
|
|
* to apply the PoseChannels into the armature (object) space.
|
|
* I.e. (roughly) the "pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)" in the
|
|
* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b)
|
|
* ...function.
|
|
*
|
|
* This allows to get the transformations of a bone in its object space,
|
|
* *before* constraints (and IK) get applied (used by pose evaluation code).
|
|
* And reverse: to find pchan transformations needed to place a bone at a given loc/rot/scale
|
|
* in object space (used by interactive transform, and snapping code).
|
|
*
|
|
* Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location matrix
|
|
* will differ from the rotation/scale matrix...
|
|
*
|
|
* NOTE: This cannot be used to convert to pose-space transforms of the supplied
|
|
* pose-channel into its local space (i.e. 'visual'-keyframing).
|
|
* (note: I don't understand that, so I keep it :p --mont29).
|
|
*/
|
|
void BKE_bone_parent_transform_calc_from_pchan(const bPoseChannel *pchan,
|
|
BoneParentTransform *r_bpt)
|
|
{
|
|
const Bone *bone, *parbone;
|
|
const 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). */
|
|
BKE_bone_offset_matrix_get(bone, offs_bone);
|
|
|
|
BKE_bone_parent_transform_calc_from_matrices(bone->flag,
|
|
bone->inherit_scale_mode,
|
|
offs_bone,
|
|
parbone->arm_mat,
|
|
parchan->pose_mat,
|
|
r_bpt);
|
|
}
|
|
else {
|
|
BKE_bone_parent_transform_calc_from_matrices(
|
|
bone->flag, bone->inherit_scale_mode, bone->arm_mat, NULL, NULL, r_bpt);
|
|
}
|
|
}
|
|
|
|
/* Compute the parent transform using data decoupled from specific data structures.
|
|
*
|
|
* bone_flag: Bone->flag containing settings
|
|
* offs_bone: delta from parent to current arm_mat (or just arm_mat if no parent)
|
|
* parent_arm_mat, parent_pose_mat: arm_mat and pose_mat of parent, or NULL
|
|
* r_bpt: OUTPUT parent transform */
|
|
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],
|
|
BoneParentTransform *r_bpt)
|
|
{
|
|
copy_v3_fl(r_bpt->post_scale, 1.0f);
|
|
|
|
if (parent_pose_mat) {
|
|
const bool use_rotation = (bone_flag & BONE_HINGE) == 0;
|
|
const bool full_transform = use_rotation && inherit_scale_mode == BONE_INHERIT_SCALE_FULL;
|
|
|
|
/* Compose the rotscale matrix for this bone. */
|
|
if (full_transform) {
|
|
/* Parent pose rotation and scale. */
|
|
mul_m4_m4m4(r_bpt->rotscale_mat, parent_pose_mat, offs_bone);
|
|
}
|
|
else {
|
|
float tmat[4][4], tscale[3];
|
|
|
|
/* If using parent pose rotation: */
|
|
if (use_rotation) {
|
|
copy_m4_m4(tmat, parent_pose_mat);
|
|
|
|
/* Normalize the matrix when needed. */
|
|
switch (inherit_scale_mode) {
|
|
case BONE_INHERIT_SCALE_FULL:
|
|
case BONE_INHERIT_SCALE_FIX_SHEAR:
|
|
/* Keep scale and shear. */
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_NONE:
|
|
case BONE_INHERIT_SCALE_AVERAGE:
|
|
/* Remove scale and shear from parent. */
|
|
orthogonalize_m4_stable(tmat, 1, true);
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_ALIGNED:
|
|
/* Remove shear and extract scale. */
|
|
orthogonalize_m4_stable(tmat, 1, false);
|
|
normalize_m4_ex(tmat, r_bpt->post_scale);
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_NONE_LEGACY:
|
|
/* Remove only scale - bad legacy way. */
|
|
normalize_m4(tmat);
|
|
break;
|
|
|
|
default:
|
|
BLI_assert(false);
|
|
}
|
|
}
|
|
/* If removing parent pose rotation: */
|
|
else {
|
|
copy_m4_m4(tmat, parent_arm_mat);
|
|
|
|
/* Copy the parent scale when needed. */
|
|
switch (inherit_scale_mode) {
|
|
case BONE_INHERIT_SCALE_FULL:
|
|
/* Ignore effects of shear. */
|
|
mat4_to_size(tscale, parent_pose_mat);
|
|
rescale_m4(tmat, tscale);
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_FIX_SHEAR:
|
|
/* Take the effects of parent shear into account to get exact volume. */
|
|
mat4_to_size_fix_shear(tscale, parent_pose_mat);
|
|
rescale_m4(tmat, tscale);
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_ALIGNED:
|
|
mat4_to_size_fix_shear(r_bpt->post_scale, parent_pose_mat);
|
|
break;
|
|
|
|
case BONE_INHERIT_SCALE_NONE:
|
|
case BONE_INHERIT_SCALE_AVERAGE:
|
|
case BONE_INHERIT_SCALE_NONE_LEGACY:
|
|
/* Keep unscaled. */
|
|
break;
|
|
|
|
default:
|
|
BLI_assert(false);
|
|
}
|
|
}
|
|
|
|
/* Apply the average parent scale when needed. */
|
|
if (inherit_scale_mode == BONE_INHERIT_SCALE_AVERAGE) {
|
|
mul_mat3_m4_fl(tmat, cbrtf(fabsf(mat4_to_volume_scale(parent_pose_mat))));
|
|
}
|
|
|
|
mul_m4_m4m4(r_bpt->rotscale_mat, tmat, offs_bone);
|
|
|
|
/* Remove remaining shear when needed, preserving volume. */
|
|
if (inherit_scale_mode == BONE_INHERIT_SCALE_FIX_SHEAR) {
|
|
orthogonalize_m4_stable(r_bpt->rotscale_mat, 1, false);
|
|
}
|
|
}
|
|
|
|
/* 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(r_bpt->loc_mat);
|
|
unit_m4(tmat4);
|
|
|
|
mul_v3_m4v3(bone_loc[3], parent_pose_mat, offs_bone[3]);
|
|
|
|
unit_m3(bone_rotscale);
|
|
copy_m3_m4(tmat3, parent_pose_mat);
|
|
mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale);
|
|
|
|
copy_m4_m3(tmat4, bone_rotscale);
|
|
mul_m4_m4m4(r_bpt->loc_mat, bone_loc, tmat4);
|
|
}
|
|
/* Those flags do not affect position, use plain parent transform space! */
|
|
else if (!full_transform) {
|
|
mul_m4_m4m4(r_bpt->loc_mat, parent_pose_mat, offs_bone);
|
|
}
|
|
/* Else (i.e. default, usual case),
|
|
* just use the same matrix for rotation/scaling, and location. */
|
|
else {
|
|
copy_m4_m4(r_bpt->loc_mat, r_bpt->rotscale_mat);
|
|
}
|
|
}
|
|
/* Root bones. */
|
|
else {
|
|
/* Rotation/scaling. */
|
|
copy_m4_m4(r_bpt->rotscale_mat, offs_bone);
|
|
/* Translation. */
|
|
if (bone_flag & BONE_NO_LOCAL_LOCATION) {
|
|
/* Translation of arm_mat, without the rotation. */
|
|
unit_m4(r_bpt->loc_mat);
|
|
copy_v3_v3(r_bpt->loc_mat[3], offs_bone[3]);
|
|
}
|
|
else {
|
|
copy_m4_m4(r_bpt->loc_mat, r_bpt->rotscale_mat);
|
|
}
|
|
}
|
|
}
|
|
|
|
void BKE_bone_parent_transform_clear(struct BoneParentTransform *bpt)
|
|
{
|
|
unit_m4(bpt->rotscale_mat);
|
|
unit_m4(bpt->loc_mat);
|
|
copy_v3_fl(bpt->post_scale, 1.0f);
|
|
}
|
|
|
|
void BKE_bone_parent_transform_invert(struct BoneParentTransform *bpt)
|
|
{
|
|
invert_m4(bpt->rotscale_mat);
|
|
invert_m4(bpt->loc_mat);
|
|
invert_v3(bpt->post_scale);
|
|
}
|
|
|
|
void BKE_bone_parent_transform_combine(const struct BoneParentTransform *in1,
|
|
const struct BoneParentTransform *in2,
|
|
struct BoneParentTransform *result)
|
|
{
|
|
mul_m4_m4m4(result->rotscale_mat, in1->rotscale_mat, in2->rotscale_mat);
|
|
mul_m4_m4m4(result->loc_mat, in1->loc_mat, in2->loc_mat);
|
|
mul_v3_v3v3(result->post_scale, in1->post_scale, in2->post_scale);
|
|
}
|
|
|
|
void BKE_bone_parent_transform_apply(const struct BoneParentTransform *bpt,
|
|
const float inmat[4][4],
|
|
float outmat[4][4])
|
|
{
|
|
/* in case inmat == outmat */
|
|
float tmploc[3];
|
|
copy_v3_v3(tmploc, inmat[3]);
|
|
|
|
mul_m4_m4m4(outmat, bpt->rotscale_mat, inmat);
|
|
mul_v3_m4v3(outmat[3], bpt->loc_mat, tmploc);
|
|
rescale_m4(outmat, bpt->post_scale);
|
|
}
|
|
|
|
/* Convert Pose-Space Matrix to Bone-Space Matrix.
|
|
* NOTE: this cannot be used to convert to pose-space transforms of the supplied
|
|
* pose-channel into its local space (i.e. 'visual'-keyframing) */
|
|
void BKE_armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[4][4], float outmat[4][4])
|
|
{
|
|
BoneParentTransform bpt;
|
|
|
|
BKE_bone_parent_transform_calc_from_pchan(pchan, &bpt);
|
|
BKE_bone_parent_transform_invert(&bpt);
|
|
BKE_bone_parent_transform_apply(&bpt, inmat, outmat);
|
|
}
|
|
|
|
/* Convert Bone-Space Matrix to Pose-Space Matrix. */
|
|
void BKE_armature_mat_bone_to_pose(bPoseChannel *pchan, float inmat[4][4], float outmat[4][4])
|
|
{
|
|
BoneParentTransform bpt;
|
|
|
|
BKE_bone_parent_transform_calc_from_pchan(pchan, &bpt);
|
|
BKE_bone_parent_transform_apply(&bpt, inmat, outmat);
|
|
}
|
|
|
|
/* Convert Pose-Space Location to Bone-Space Location
|
|
* NOTE: this cannot be used to convert to pose-space location of the supplied
|
|
* pose-channel into its local space (i.e. 'visual'-keyframing) */
|
|
void BKE_armature_loc_pose_to_bone(bPoseChannel *pchan, const float inloc[3], float outloc[3])
|
|
{
|
|
float xLocMat[4][4];
|
|
float nLocMat[4][4];
|
|
|
|
/* build matrix for location */
|
|
unit_m4(xLocMat);
|
|
copy_v3_v3(xLocMat[3], inloc);
|
|
|
|
/* get bone-space cursor matrix and extract location */
|
|
BKE_armature_mat_pose_to_bone(pchan, xLocMat, nLocMat);
|
|
copy_v3_v3(outloc, nLocMat[3]);
|
|
}
|
|
|
|
void BKE_armature_mat_pose_to_bone_ex(struct Depsgraph *depsgraph,
|
|
Object *ob,
|
|
bPoseChannel *pchan,
|
|
float inmat[4][4],
|
|
float outmat[4][4])
|
|
{
|
|
bPoseChannel work_pchan = *pchan;
|
|
|
|
/* recalculate pose matrix with only parent transformations,
|
|
* bone loc/sca/rot is ignored, scene and frame are not used. */
|
|
BKE_pose_where_is_bone(depsgraph, 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 what's
|
|
* already there. */
|
|
unit_m4(outmat);
|
|
BKE_pchan_apply_mat4(&work_pchan, outmat, false);
|
|
|
|
BKE_armature_mat_pose_to_bone(&work_pchan, inmat, outmat);
|
|
}
|
|
|
|
/**
|
|
* Same as #BKE_object_mat3_to_rot().
|
|
*/
|
|
void BKE_pchan_mat3_to_rot(bPoseChannel *pchan, float mat[3][3], bool use_compat)
|
|
{
|
|
BLI_ASSERT_UNIT_M3(mat);
|
|
|
|
switch (pchan->rotmode) {
|
|
case ROT_MODE_QUAT:
|
|
mat3_normalized_to_quat(pchan->quat, mat);
|
|
break;
|
|
case ROT_MODE_AXISANGLE:
|
|
mat3_normalized_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat);
|
|
break;
|
|
default: /* euler */
|
|
if (use_compat) {
|
|
mat3_normalized_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat);
|
|
}
|
|
else {
|
|
mat3_normalized_to_eulO(pchan->eul, pchan->rotmode, mat);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Same as #BKE_object_rot_to_mat3().
|
|
*/
|
|
void BKE_pchan_rot_to_mat3(const bPoseChannel *pchan, float mat[3][3])
|
|
{
|
|
/* 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(mat, 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(mat, 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(mat, quat);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Apply a 4x4 matrix to the pose bone,
|
|
* similar to #BKE_object_apply_mat4().
|
|
*/
|
|
void BKE_pchan_apply_mat4(bPoseChannel *pchan, float mat[4][4], bool use_compat)
|
|
{
|
|
float rot[3][3];
|
|
mat4_to_loc_rot_size(pchan->loc, rot, pchan->size, mat);
|
|
BKE_pchan_mat3_to_rot(pchan, rot, use_compat);
|
|
}
|
|
|
|
/**
|
|
* Remove rest-position effects from pose-transform for obtaining
|
|
* 'visual' transformation of pose-channel.
|
|
* (used by the Visual-Keyframing stuff).
|
|
*/
|
|
void BKE_armature_mat_pose_to_delta(float delta_mat[4][4],
|
|
float pose_mat[4][4],
|
|
float arm_mat[4][4])
|
|
{
|
|
float imat[4][4];
|
|
|
|
invert_m4_m4(imat, arm_mat);
|
|
mul_m4_m4m4(delta_mat, imat, pose_mat);
|
|
}
|
|
|
|
/* **************** Rotation Mode Conversions ****************************** */
|
|
/* Used for Objects and Pose Channels, since both can have multiple rotation representations */
|
|
|
|
/* Called from RNA when rotation mode changes
|
|
* - the result should be that the rotations given in the provided pointers have had conversions
|
|
* applied (as appropriate), such that the rotation of the element hasn't 'visually' changed */
|
|
void BKE_rotMode_change_values(
|
|
float quat[4], float eul[3], float axis[3], float *angle, short oldMode, short newMode)
|
|
{
|
|
/* check if any change - if so, need to convert data */
|
|
if (newMode > 0) { /* to euler */
|
|
if (oldMode == ROT_MODE_AXISANGLE) {
|
|
/* axis-angle to euler */
|
|
axis_angle_to_eulO(eul, newMode, axis, *angle);
|
|
}
|
|
else if (oldMode == ROT_MODE_QUAT) {
|
|
/* quat to euler */
|
|
normalize_qt(quat);
|
|
quat_to_eulO(eul, newMode, quat);
|
|
}
|
|
/* else { no conversion needed } */
|
|
}
|
|
else if (newMode == ROT_MODE_QUAT) { /* to quat */
|
|
if (oldMode == ROT_MODE_AXISANGLE) {
|
|
/* axis angle to quat */
|
|
axis_angle_to_quat(quat, axis, *angle);
|
|
}
|
|
else if (oldMode > 0) {
|
|
/* euler to quat */
|
|
eulO_to_quat(quat, eul, oldMode);
|
|
}
|
|
/* else { no conversion needed } */
|
|
}
|
|
else if (newMode == ROT_MODE_AXISANGLE) { /* to axis-angle */
|
|
if (oldMode > 0) {
|
|
/* euler to axis angle */
|
|
eulO_to_axis_angle(axis, angle, eul, oldMode);
|
|
}
|
|
else if (oldMode == ROT_MODE_QUAT) {
|
|
/* quat to axis angle */
|
|
normalize_qt(quat);
|
|
quat_to_axis_angle(axis, angle, quat);
|
|
}
|
|
|
|
/* When converting to axis-angle,
|
|
* we need a special exception for the case when there is no axis. */
|
|
if (IS_EQF(axis[0], axis[1]) && IS_EQF(axis[1], axis[2])) {
|
|
/* for now, rotate around y-axis then (so that it simply becomes the roll) */
|
|
axis[1] = 1.0f;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* **************** The new & simple (but OK!) armature evaluation ********* */
|
|
|
|
/* ****************** And how it works! ****************************************
|
|
*
|
|
* This is the bone transformation trick; they're hierarchical so each bone(b)
|
|
* is in the coord system of bone(b-1):
|
|
*
|
|
* arm_mat(b)= arm_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)
|
|
*
|
|
* -> yoffs is just the y axis translation in parent's coord system
|
|
* -> d_root is the translation of the bone root, also in parent's coord system
|
|
*
|
|
* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b)
|
|
*
|
|
* we then - in init deform - store the deform in chan_mat, such that:
|
|
*
|
|
* pose_mat(b)= arm_mat(b) * chan_mat(b)
|
|
*
|
|
* *************************************************************************** */
|
|
|
|
/* Computes vector and roll based on a rotation.
|
|
* "mat" must contain only a rotation, and no scaling. */
|
|
void mat3_to_vec_roll(const float mat[3][3], float r_vec[3], float *r_roll)
|
|
{
|
|
if (r_vec) {
|
|
copy_v3_v3(r_vec, mat[1]);
|
|
}
|
|
|
|
if (r_roll) {
|
|
mat3_vec_to_roll(mat, mat[1], r_roll);
|
|
}
|
|
}
|
|
|
|
/* Computes roll around the vector that best approximates the matrix.
|
|
* If vec is the Y vector from purely rotational mat, result should be exact. */
|
|
void mat3_vec_to_roll(const float mat[3][3], const float vec[3], float *r_roll)
|
|
{
|
|
float vecmat[3][3], vecmatinv[3][3], rollmat[3][3], q[4];
|
|
|
|
/* Compute the orientation relative to the vector with zero roll. */
|
|
vec_roll_to_mat3(vec, 0.0f, vecmat);
|
|
invert_m3_m3(vecmatinv, vecmat);
|
|
mul_m3_m3m3(rollmat, vecmatinv, mat);
|
|
|
|
/* Extract the twist angle as the roll value. */
|
|
mat3_to_quat(q, rollmat);
|
|
|
|
*r_roll = quat_split_swing_and_twist(q, 1, NULL, NULL);
|
|
}
|
|
|
|
/* Calculates the rest matrix of a bone based on its vector and a roll around that vector. */
|
|
/**
|
|
* Given `v = (v.x, v.y, v.z)` our (normalized) bone vector, we want the rotation matrix M
|
|
* from the Y axis (so that `M * (0, 1, 0) = v`).
|
|
* - The rotation axis a lays on XZ plane, and it is orthonormal to v,
|
|
* hence to the projection of v onto XZ plane.
|
|
* - `a = (v.z, 0, -v.x)`
|
|
*
|
|
* We know a is eigenvector of M (so M * a = a).
|
|
* Finally, we have w, such that M * w = (0, 1, 0)
|
|
* (i.e. the vector that will be aligned with Y axis once transformed).
|
|
* We know w is symmetric to v by the Y axis.
|
|
* - `w = (-v.x, v.y, -v.z)`
|
|
*
|
|
* Solving this, we get (x, y and z being the components of v):
|
|
* <pre>
|
|
* ┌ (x^2 * y + z^2) / (x^2 + z^2), x, x * z * (y - 1) / (x^2 + z^2) ┐
|
|
* M = │ x * (y^2 - 1) / (x^2 + z^2), y, z * (y^2 - 1) / (x^2 + z^2) │
|
|
* └ x * z * (y - 1) / (x^2 + z^2), z, (x^2 + z^2 * y) / (x^2 + z^2) ┘
|
|
* </pre>
|
|
*
|
|
* This is stable as long as v (the bone) is not too much aligned with +/-Y
|
|
* (i.e. x and z components are not too close to 0).
|
|
*
|
|
* Since v is normalized, we have `x^2 + y^2 + z^2 = 1`,
|
|
* hence `x^2 + z^2 = 1 - y^2 = (1 - y)(1 + y)`.
|
|
*
|
|
* This allows to simplifies M like this:
|
|
* <pre>
|
|
* ┌ 1 - x^2 / (1 + y), x, -x * z / (1 + y) ┐
|
|
* M = │ -x, y, -z │
|
|
* └ -x * z / (1 + y), z, 1 - z^2 / (1 + y) ┘
|
|
* </pre>
|
|
*
|
|
* Written this way, we see the case v = +Y is no more a singularity.
|
|
* The only one
|
|
* remaining is the bone being aligned with -Y.
|
|
*
|
|
* Let's handle
|
|
* the asymptotic behavior when bone vector is reaching the limit of y = -1.
|
|
* Each of the four corner elements can vary from -1 to 1,
|
|
* depending on the axis a chosen for doing the rotation.
|
|
* And the "rotation" here is in fact established by mirroring XZ plane by that given axis,
|
|
* then inversing the Y-axis.
|
|
* For sufficiently small x and z, and with y approaching -1,
|
|
* all elements but the four corner ones of M will degenerate.
|
|
* So let's now focus on these corner elements.
|
|
*
|
|
* We rewrite M so that it only contains its four corner elements,
|
|
* and combine the `1 / (1 + y)` factor:
|
|
* <pre>
|
|
* ┌ 1 + y - x^2, -x * z ┐
|
|
* M* = 1 / (1 + y) * │ │
|
|
* └ -x * z, 1 + y - z^2 ┘
|
|
* </pre>
|
|
*
|
|
* When y is close to -1, computing 1 / (1 + y) will cause severe numerical instability,
|
|
* so we ignore it and normalize M instead.
|
|
* We know `y^2 = 1 - (x^2 + z^2)`, and `y < 0`, hence `y = -sqrt(1 - (x^2 + z^2))`.
|
|
*
|
|
* Since x and z are both close to 0, we apply the binomial expansion to the first order:
|
|
* `y = -sqrt(1 - (x^2 + z^2)) = -1 + (x^2 + z^2) / 2`. Which gives:
|
|
* <pre>
|
|
* ┌ z^2 - x^2, -2 * x * z ┐
|
|
* M* = 1 / (x^2 + z^2) * │ │
|
|
* └ -2 * x * z, x^2 - z^2 ┘
|
|
* </pre>
|
|
*/
|
|
void vec_roll_to_mat3_normalized(const float nor[3], const float roll, float mat[3][3])
|
|
{
|
|
#define THETA_THRESHOLD_NEGY 1.0e-9f
|
|
#define THETA_THRESHOLD_NEGY_CLOSE 1.0e-5f
|
|
|
|
float theta;
|
|
float rMatrix[3][3], bMatrix[3][3];
|
|
|
|
BLI_ASSERT_UNIT_V3(nor);
|
|
|
|
theta = 1.0f + nor[1];
|
|
|
|
/* With old algo, 1.0e-13f caused T23954 and T31333, 1.0e-6f caused T27675 and T30438,
|
|
* so using 1.0e-9f as best compromise.
|
|
*
|
|
* New algo is supposed much more precise, since less complex computations are performed,
|
|
* but it uses two different threshold values...
|
|
*
|
|
* Note: When theta is close to zero, we have to check we do have non-null X/Z components as well
|
|
* (due to float precision errors, we can have nor = (0.0, 0.99999994, 0.0)...).
|
|
*/
|
|
if (theta > THETA_THRESHOLD_NEGY_CLOSE || ((nor[0] || nor[2]) && theta > THETA_THRESHOLD_NEGY)) {
|
|
/* nor is *not* -Y.
|
|
* We got these values for free... so be happy with it... ;)
|
|
*/
|
|
bMatrix[0][1] = -nor[0];
|
|
bMatrix[1][0] = nor[0];
|
|
bMatrix[1][1] = nor[1];
|
|
bMatrix[1][2] = nor[2];
|
|
bMatrix[2][1] = -nor[2];
|
|
if (theta > THETA_THRESHOLD_NEGY_CLOSE) {
|
|
/* If nor is far enough from -Y, apply the general case. */
|
|
bMatrix[0][0] = 1 - nor[0] * nor[0] / theta;
|
|
bMatrix[2][2] = 1 - nor[2] * nor[2] / theta;
|
|
bMatrix[2][0] = bMatrix[0][2] = -nor[0] * nor[2] / theta;
|
|
}
|
|
else {
|
|
/* If nor is too close to -Y, apply the special case. */
|
|
theta = nor[0] * nor[0] + nor[2] * nor[2];
|
|
bMatrix[0][0] = (nor[0] + nor[2]) * (nor[0] - nor[2]) / -theta;
|
|
bMatrix[2][2] = -bMatrix[0][0];
|
|
bMatrix[2][0] = bMatrix[0][2] = 2.0f * nor[0] * nor[2] / theta;
|
|
}
|
|
}
|
|
else {
|
|
/* If nor is -Y, simple symmetry by Z axis. */
|
|
unit_m3(bMatrix);
|
|
bMatrix[0][0] = bMatrix[1][1] = -1.0;
|
|
}
|
|
|
|
/* Make Roll matrix */
|
|
axis_angle_normalized_to_mat3(rMatrix, nor, roll);
|
|
|
|
/* Combine and output result */
|
|
mul_m3_m3m3(mat, rMatrix, bMatrix);
|
|
|
|
#undef THETA_THRESHOLD_NEGY
|
|
#undef THETA_THRESHOLD_NEGY_CLOSE
|
|
}
|
|
|
|
void vec_roll_to_mat3(const float vec[3], const float roll, float mat[3][3])
|
|
{
|
|
float nor[3];
|
|
|
|
normalize_v3_v3(nor, vec);
|
|
vec_roll_to_mat3_normalized(nor, roll, mat);
|
|
}
|
|
|
|
/**
|
|
* Recursive part, calculates rest-position of entire tree of children.
|
|
* \note Used when exiting edit-mode too.
|
|
*/
|
|
void BKE_armature_where_is_bone(Bone *bone, const Bone *bone_parent, const bool use_recursion)
|
|
{
|
|
float vec[3];
|
|
|
|
/* Bone Space */
|
|
sub_v3_v3v3(vec, bone->tail, bone->head);
|
|
bone->length = len_v3(vec);
|
|
vec_roll_to_mat3(vec, bone->roll, bone->bone_mat);
|
|
|
|
/* this is called on old file reading too... */
|
|
if (bone->xwidth == 0.0f) {
|
|
bone->xwidth = 0.1f;
|
|
bone->zwidth = 0.1f;
|
|
bone->segments = 1;
|
|
}
|
|
|
|
if (bone_parent) {
|
|
float offs_bone[4][4];
|
|
/* yoffs(b-1) + root(b) + bonemat(b) */
|
|
BKE_bone_offset_matrix_get(bone, offs_bone);
|
|
|
|
/* Compose the matrix for this bone */
|
|
mul_m4_m4m4(bone->arm_mat, bone_parent->arm_mat, offs_bone);
|
|
}
|
|
else {
|
|
copy_m4_m3(bone->arm_mat, bone->bone_mat);
|
|
copy_v3_v3(bone->arm_mat[3], bone->head);
|
|
}
|
|
|
|
/* and the kiddies */
|
|
if (use_recursion) {
|
|
bone_parent = bone;
|
|
for (bone = bone->childbase.first; bone; bone = bone->next) {
|
|
BKE_armature_where_is_bone(bone, bone_parent, use_recursion);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* updates vectors and matrices on rest-position level, only needed
|
|
* after editing armature itself, now only on reading file */
|
|
void BKE_armature_where_is(bArmature *arm)
|
|
{
|
|
Bone *bone;
|
|
|
|
/* hierarchical from root to children */
|
|
for (bone = arm->bonebase.first; bone; bone = bone->next) {
|
|
BKE_armature_where_is_bone(bone, NULL, true);
|
|
}
|
|
}
|
|
|
|
/* if bone layer is protected, copy the data from from->pose
|
|
* when used with linked libraries this copies from the linked pose into the local pose */
|
|
static void pose_proxy_sync(Object *ob, Object *from, int layer_protected)
|
|
{
|
|
bPose *pose = ob->pose, *frompose = from->pose;
|
|
bPoseChannel *pchan, *pchanp;
|
|
bConstraint *con;
|
|
int error = 0;
|
|
|
|
if (frompose == NULL) {
|
|
return;
|
|
}
|
|
|
|
/* in some cases when rigs change, we cant synchronize
|
|
* to avoid crashing check for possible errors here */
|
|
for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
if (pchan->bone->layer & layer_protected) {
|
|
if (BKE_pose_channel_find_name(frompose, pchan->name) == NULL) {
|
|
CLOG_ERROR(&LOG,
|
|
"failed to sync proxy armature because '%s' is missing pose channel '%s'",
|
|
from->id.name,
|
|
pchan->name);
|
|
error = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (error) {
|
|
return;
|
|
}
|
|
|
|
/* clear all transformation values from library */
|
|
BKE_pose_rest(frompose);
|
|
|
|
/* copy over all of the proxy's bone groups */
|
|
/* TODO for later
|
|
* - implement 'local' bone groups as for constraints
|
|
* Note: this isn't trivial, as bones reference groups by index not by pointer,
|
|
* so syncing things correctly needs careful attention */
|
|
BLI_freelistN(&pose->agroups);
|
|
BLI_duplicatelist(&pose->agroups, &frompose->agroups);
|
|
pose->active_group = frompose->active_group;
|
|
|
|
for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
pchanp = BKE_pose_channel_find_name(frompose, pchan->name);
|
|
|
|
if (UNLIKELY(pchanp == NULL)) {
|
|
/* happens for proxies that become invalid because of a missing link
|
|
* for regular cases it shouldn't happen at all */
|
|
}
|
|
else if (pchan->bone->layer & layer_protected) {
|
|
ListBase proxylocal_constraints = {NULL, NULL};
|
|
bPoseChannel pchanw;
|
|
|
|
/* copy posechannel to temp, but restore important pointers */
|
|
pchanw = *pchanp;
|
|
pchanw.bone = pchan->bone;
|
|
pchanw.prev = pchan->prev;
|
|
pchanw.next = pchan->next;
|
|
pchanw.parent = pchan->parent;
|
|
pchanw.child = pchan->child;
|
|
pchanw.custom_tx = pchan->custom_tx;
|
|
pchanw.bbone_prev = pchan->bbone_prev;
|
|
pchanw.bbone_next = pchan->bbone_next;
|
|
|
|
pchanw.mpath = pchan->mpath;
|
|
pchan->mpath = NULL;
|
|
|
|
/* Reset runtime data, we don't want to share that with the proxy. */
|
|
BKE_pose_channel_runtime_reset(&pchanw.runtime);
|
|
|
|
/* this is freed so copy a copy, else undo crashes */
|
|
if (pchanw.prop) {
|
|
pchanw.prop = IDP_CopyProperty(pchanw.prop);
|
|
|
|
/* use the values from the existing props */
|
|
if (pchan->prop) {
|
|
IDP_SyncGroupValues(pchanw.prop, pchan->prop);
|
|
}
|
|
}
|
|
|
|
/* Constraints - proxy constraints are flushed... local ones are added after
|
|
* 1: extract constraints not from proxy (CONSTRAINT_PROXY_LOCAL) from pchan's constraints.
|
|
* 2: copy proxy-pchan's constraints on-to new.
|
|
* 3: add extracted local constraints back on top.
|
|
*
|
|
* Note for BKE_constraints_copy:
|
|
* When copying constraints, disable 'do_extern' otherwise
|
|
* we get the libs direct linked in this blend.
|
|
*/
|
|
BKE_constraints_proxylocal_extract(&proxylocal_constraints, &pchan->constraints);
|
|
BKE_constraints_copy(&pchanw.constraints, &pchanp->constraints, false);
|
|
BLI_movelisttolist(&pchanw.constraints, &proxylocal_constraints);
|
|
|
|
/* constraints - set target ob pointer to own object */
|
|
for (con = pchanw.constraints.first; con; con = con->next) {
|
|
const bConstraintTypeInfo *cti = BKE_constraint_typeinfo_get(con);
|
|
ListBase targets = {NULL, NULL};
|
|
bConstraintTarget *ct;
|
|
|
|
if (cti && cti->get_constraint_targets) {
|
|
cti->get_constraint_targets(con, &targets);
|
|
|
|
for (ct = targets.first; ct; ct = ct->next) {
|
|
if (ct->tar == from) {
|
|
ct->tar = ob;
|
|
}
|
|
}
|
|
|
|
if (cti->flush_constraint_targets) {
|
|
cti->flush_constraint_targets(con, &targets, 0);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* free stuff from current channel */
|
|
BKE_pose_channel_free(pchan);
|
|
|
|
/* copy data in temp back over to the cleaned-out (but still allocated) original channel */
|
|
*pchan = pchanw;
|
|
if (pchan->custom) {
|
|
id_us_plus(&pchan->custom->id);
|
|
}
|
|
}
|
|
else {
|
|
/* always copy custom shape */
|
|
pchan->custom = pchanp->custom;
|
|
if (pchan->custom) {
|
|
id_us_plus(&pchan->custom->id);
|
|
}
|
|
if (pchanp->custom_tx) {
|
|
pchan->custom_tx = BKE_pose_channel_find_name(pose, pchanp->custom_tx->name);
|
|
}
|
|
|
|
/* ID-Property Syncing */
|
|
{
|
|
IDProperty *prop_orig = pchan->prop;
|
|
if (pchanp->prop) {
|
|
pchan->prop = IDP_CopyProperty(pchanp->prop);
|
|
if (prop_orig) {
|
|
/* copy existing values across when types match */
|
|
IDP_SyncGroupValues(pchan->prop, prop_orig);
|
|
}
|
|
}
|
|
else {
|
|
pchan->prop = NULL;
|
|
}
|
|
if (prop_orig) {
|
|
IDP_FreeProperty(prop_orig);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
static int rebuild_pose_bone(bPose *pose, Bone *bone, bPoseChannel *parchan, int counter)
|
|
{
|
|
bPoseChannel *pchan = BKE_pose_channel_verify(pose, bone->name); /* verify checks and/or adds */
|
|
|
|
pchan->bone = bone;
|
|
pchan->parent = parchan;
|
|
|
|
counter++;
|
|
|
|
for (bone = bone->childbase.first; bone; bone = bone->next) {
|
|
counter = rebuild_pose_bone(pose, bone, pchan, counter);
|
|
/* for quick detecting of next bone in chain, only b-bone uses it now */
|
|
if (bone->flag & BONE_CONNECTED) {
|
|
pchan->child = BKE_pose_channel_find_name(pose, bone->name);
|
|
}
|
|
}
|
|
|
|
return counter;
|
|
}
|
|
|
|
/**
|
|
* Clear pointers of object's pose
|
|
* (needed in remap case, since we cannot always wait for a complete pose rebuild).
|
|
*/
|
|
void BKE_pose_clear_pointers(bPose *pose)
|
|
{
|
|
LISTBASE_FOREACH (bPoseChannel *, pchan, &pose->chanbase) {
|
|
pchan->bone = NULL;
|
|
pchan->child = NULL;
|
|
}
|
|
}
|
|
|
|
void BKE_pose_remap_bone_pointers(bArmature *armature, bPose *pose)
|
|
{
|
|
LISTBASE_FOREACH (bPoseChannel *, pchan, &pose->chanbase) {
|
|
pchan->bone = BKE_armature_find_bone_name(armature, pchan->name);
|
|
}
|
|
}
|
|
|
|
/** Find the matching pose channel using the bone name, if not NULL. */
|
|
static bPoseChannel *pose_channel_find_bone(bPose *pose, Bone *bone)
|
|
{
|
|
return (bone != NULL) ? BKE_pose_channel_find_name(pose, bone->name) : NULL;
|
|
}
|
|
|
|
/** Update the links for the B-Bone handles from Bone data. */
|
|
void BKE_pchan_rebuild_bbone_handles(bPose *pose, bPoseChannel *pchan)
|
|
{
|
|
pchan->bbone_prev = pose_channel_find_bone(pose, pchan->bone->bbone_prev);
|
|
pchan->bbone_next = pose_channel_find_bone(pose, pchan->bone->bbone_next);
|
|
}
|
|
|
|
/**
|
|
* Only after leave editmode, duplicating, validating older files, library syncing.
|
|
*
|
|
* \note pose->flag is set for it.
|
|
*
|
|
* \param bmain: May be NULL, only used to tag depsgraph as being dirty...
|
|
*/
|
|
void BKE_pose_rebuild(Main *bmain, Object *ob, bArmature *arm, const bool do_id_user)
|
|
{
|
|
Bone *bone;
|
|
bPose *pose;
|
|
bPoseChannel *pchan, *next;
|
|
int counter = 0;
|
|
|
|
/* only done here */
|
|
if (ob->pose == NULL) {
|
|
/* create new pose */
|
|
ob->pose = MEM_callocN(sizeof(bPose), "new pose");
|
|
|
|
/* set default settings for animviz */
|
|
animviz_settings_init(&ob->pose->avs);
|
|
}
|
|
pose = ob->pose;
|
|
|
|
/* clear */
|
|
BKE_pose_clear_pointers(pose);
|
|
|
|
/* first step, check if all channels are there */
|
|
for (bone = arm->bonebase.first; bone; bone = bone->next) {
|
|
counter = rebuild_pose_bone(pose, bone, NULL, counter);
|
|
}
|
|
|
|
/* and a check for garbage */
|
|
for (pchan = pose->chanbase.first; pchan; pchan = next) {
|
|
next = pchan->next;
|
|
if (pchan->bone == NULL) {
|
|
BKE_pose_channel_free_ex(pchan, do_id_user);
|
|
BKE_pose_channels_hash_free(pose);
|
|
BLI_freelinkN(&pose->chanbase, pchan);
|
|
}
|
|
}
|
|
|
|
BKE_pose_channels_hash_make(pose);
|
|
|
|
for (pchan = pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
/* Find the custom B-Bone handles. */
|
|
BKE_pchan_rebuild_bbone_handles(pose, pchan);
|
|
}
|
|
|
|
/* printf("rebuild pose %s, %d bones\n", ob->id.name, counter); */
|
|
|
|
/* synchronize protected layers with proxy */
|
|
/* HACK! To preserve 2.7x behavior that you always can pose even locked bones,
|
|
* do not do any restoration if this is a COW temp copy! */
|
|
/* Switched back to just NO_MAIN tag, for some reasons (c)
|
|
* using COW tag was working this morning, but not anymore... */
|
|
if (ob->proxy != NULL && (ob->id.tag & LIB_TAG_NO_MAIN) == 0) {
|
|
BKE_object_copy_proxy_drivers(ob, ob->proxy);
|
|
pose_proxy_sync(ob, ob->proxy, arm->layer_protected);
|
|
}
|
|
|
|
BKE_pose_update_constraint_flags(pose); /* for IK detection for example */
|
|
|
|
pose->flag &= ~POSE_RECALC;
|
|
pose->flag |= POSE_WAS_REBUILT;
|
|
|
|
/* Rebuilding poses forces us to also rebuild the dependency graph,
|
|
* since there is one node per pose/bone. */
|
|
if (bmain != NULL) {
|
|
DEG_relations_tag_update(bmain);
|
|
}
|
|
}
|
|
|
|
/* ********************** THE POSE SOLVER ******************* */
|
|
|
|
/* loc/rot/size to given mat4 */
|
|
void BKE_pchan_to_mat4(const 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);
|
|
|
|
/* get rotation matrix */
|
|
BKE_pchan_rot_to_mat3(pchan, rmat);
|
|
|
|
/* 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);
|
|
}
|
|
|
|
/* 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(struct Depsgraph *depsgraph,
|
|
Scene *scene,
|
|
Object *ob,
|
|
bPoseChannel *pchan,
|
|
float ctime,
|
|
bool do_extra)
|
|
{
|
|
/* This gives a chan_mat with actions (ipos) results. */
|
|
if (do_extra) {
|
|
BKE_pchan_calc_mat(pchan);
|
|
}
|
|
else {
|
|
unit_m4(pchan->chan_mat);
|
|
}
|
|
|
|
/* Construct the posemat based on PoseChannels, that we do before applying constraints. */
|
|
/* pose_mat(b) = pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) */
|
|
BKE_armature_mat_bone_to_pose(pchan, pchan->chan_mat, pchan->pose_mat);
|
|
|
|
/* Only rootbones get the cyclic offset (unless user doesn't want that). */
|
|
/* XXX That could be a problem for snapping and other "reverse transform" features... */
|
|
if (!pchan->parent) {
|
|
if ((pchan->bone->flag & BONE_NO_CYCLICOFFSET) == 0) {
|
|
add_v3_v3(pchan->pose_mat[3], ob->pose->cyclic_offset);
|
|
}
|
|
}
|
|
|
|
if (do_extra) {
|
|
/* Do constraints */
|
|
if (pchan->constraints.first) {
|
|
bConstraintOb *cob;
|
|
float vec[3];
|
|
|
|
/* make a copy of location of PoseChannel for later */
|
|
copy_v3_v3(vec, pchan->pose_mat[3]);
|
|
|
|
/* prepare PoseChannel for Constraint solving
|
|
* - makes a copy of matrix, and creates temporary struct to use
|
|
*/
|
|
cob = BKE_constraints_make_evalob(depsgraph, scene, ob, pchan, CONSTRAINT_OBTYPE_BONE);
|
|
|
|
/* Solve PoseChannel's Constraints */
|
|
|
|
/* ctime doesn't alter objects. */
|
|
BKE_constraints_solve(depsgraph, &pchan->constraints, cob, ctime);
|
|
|
|
/* cleanup after Constraint Solving
|
|
* - applies matrix back to pchan, and frees temporary struct used
|
|
*/
|
|
BKE_constraints_clear_evalob(cob);
|
|
|
|
/* prevent constraints breaking a chain */
|
|
if (pchan->bone->flag & BONE_CONNECTED) {
|
|
copy_v3_v3(pchan->pose_mat[3], vec);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* calculate head */
|
|
copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]);
|
|
/* calculate tail */
|
|
BKE_pose_where_is_bone_tail(pchan);
|
|
}
|
|
|
|
/* This only reads anim data from channels, and writes to channels */
|
|
/* This is the only function adding poses */
|
|
void BKE_pose_where_is(struct Depsgraph *depsgraph, 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)) {
|
|
/* WARNING! passing NULL bmain here means we won't tag depsgraph's as dirty -
|
|
* hopefully this is OK. */
|
|
BKE_pose_rebuild(NULL, ob, arm, true);
|
|
}
|
|
|
|
ctime = BKE_scene_frame_get(scene); /* not accurate... */
|
|
|
|
/* In edit-mode or rest-position 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(depsgraph, scene, ob, ctime);
|
|
|
|
/* 2b. construct the Spline IK trees
|
|
* - this is not integrated as an IK plugin, since it should be able
|
|
* to function in conjunction with standard IK
|
|
*/
|
|
BKE_pose_splineik_init_tree(scene, ob, ctime);
|
|
|
|
/* 3. the main loop, channels are already hierarchical sorted from root to children */
|
|
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
/* 4a. if we find an IK root, we handle it separated */
|
|
if (pchan->flag & POSE_IKTREE) {
|
|
BIK_execute_tree(depsgraph, scene, ob, pchan, ctime);
|
|
}
|
|
/* 4b. if we find a Spline IK root, we handle it separated too */
|
|
else if (pchan->flag & POSE_IKSPLINE) {
|
|
BKE_splineik_execute_tree(depsgraph, scene, ob, pchan, ctime);
|
|
}
|
|
/* 5. otherwise just call the normal solver */
|
|
else if (!(pchan->flag & POSE_DONE)) {
|
|
BKE_pose_where_is_bone(depsgraph, scene, ob, pchan, ctime, 1);
|
|
}
|
|
}
|
|
/* 6. release the IK tree */
|
|
BIK_release_tree(scene, ob, ctime);
|
|
}
|
|
|
|
/* calculating deform matrices */
|
|
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
if (pchan->bone) {
|
|
invert_m4_m4(imat, pchan->bone->arm_mat);
|
|
mul_m4_m4m4(pchan->chan_mat, pchan->pose_mat, imat);
|
|
}
|
|
}
|
|
}
|
|
|
|
/************** Bounding box ********************/
|
|
static int minmax_armature(Object *ob, float r_min[3], float r_max[3])
|
|
{
|
|
bPoseChannel *pchan;
|
|
|
|
/* For now, we assume BKE_pose_where_is has already been called
|
|
* (hence we have valid data in pachan). */
|
|
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
minmax_v3v3_v3(r_min, r_max, pchan->pose_head);
|
|
minmax_v3v3_v3(r_min, r_max, pchan->pose_tail);
|
|
}
|
|
|
|
return (BLI_listbase_is_empty(&ob->pose->chanbase) == false);
|
|
}
|
|
|
|
static void boundbox_armature(Object *ob)
|
|
{
|
|
BoundBox *bb;
|
|
float min[3], max[3];
|
|
|
|
if (ob->runtime.bb == NULL) {
|
|
ob->runtime.bb = MEM_callocN(sizeof(BoundBox), "Armature boundbox");
|
|
}
|
|
bb = ob->runtime.bb;
|
|
|
|
INIT_MINMAX(min, max);
|
|
if (!minmax_armature(ob, min, max)) {
|
|
min[0] = min[1] = min[2] = -1.0f;
|
|
max[0] = max[1] = max[2] = 1.0f;
|
|
}
|
|
|
|
BKE_boundbox_init_from_minmax(bb, min, max);
|
|
|
|
bb->flag &= ~BOUNDBOX_DIRTY;
|
|
}
|
|
|
|
BoundBox *BKE_armature_boundbox_get(Object *ob)
|
|
{
|
|
boundbox_armature(ob);
|
|
|
|
return ob->runtime.bb;
|
|
}
|
|
|
|
bool BKE_pose_minmax(Object *ob, float r_min[3], float r_max[3], bool use_hidden, bool use_select)
|
|
{
|
|
bool changed = false;
|
|
|
|
if (ob->pose) {
|
|
bArmature *arm = ob->data;
|
|
bPoseChannel *pchan;
|
|
|
|
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
|
|
/* XXX pchan->bone may be NULL for duplicated bones, see duplicateEditBoneObjects() comment
|
|
* (editarmature.c:2592)... Skip in this case too! */
|
|
if (pchan->bone && (!((use_hidden == false) && (PBONE_VISIBLE(arm, pchan->bone) == false)) &&
|
|
!((use_select == true) && ((pchan->bone->flag & BONE_SELECTED) == 0)))) {
|
|
bPoseChannel *pchan_tx = (pchan->custom && pchan->custom_tx) ? pchan->custom_tx : pchan;
|
|
BoundBox *bb_custom = ((pchan->custom) && !(arm->flag & ARM_NO_CUSTOM)) ?
|
|
BKE_object_boundbox_get(pchan->custom) :
|
|
NULL;
|
|
if (bb_custom) {
|
|
float mat[4][4], smat[4][4];
|
|
scale_m4_fl(smat, PCHAN_CUSTOM_DRAW_SIZE(pchan));
|
|
mul_m4_series(mat, ob->obmat, pchan_tx->pose_mat, smat);
|
|
BKE_boundbox_minmax(bb_custom, mat, r_min, r_max);
|
|
}
|
|
else {
|
|
float vec[3];
|
|
mul_v3_m4v3(vec, ob->obmat, pchan_tx->pose_head);
|
|
minmax_v3v3_v3(r_min, r_max, vec);
|
|
mul_v3_m4v3(vec, ob->obmat, pchan_tx->pose_tail);
|
|
minmax_v3v3_v3(r_min, r_max, vec);
|
|
}
|
|
|
|
changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return changed;
|
|
}
|
|
|
|
/************** Graph evaluation ********************/
|
|
|
|
bPoseChannel *BKE_armature_ik_solver_find_root(bPoseChannel *pchan, bKinematicConstraint *data)
|
|
{
|
|
bPoseChannel *rootchan = pchan;
|
|
if (!(data->flag & CONSTRAINT_IK_TIP)) {
|
|
/* Exclude tip from chain. */
|
|
rootchan = rootchan->parent;
|
|
}
|
|
if (rootchan != NULL) {
|
|
int segcount = 0;
|
|
while (rootchan->parent) {
|
|
/* Continue up chain, until we reach target number of items. */
|
|
segcount++;
|
|
if (segcount == data->rootbone) {
|
|
break;
|
|
}
|
|
rootchan = rootchan->parent;
|
|
}
|
|
}
|
|
return rootchan;
|
|
}
|
|
|
|
bPoseChannel *BKE_armature_splineik_solver_find_root(bPoseChannel *pchan,
|
|
bSplineIKConstraint *data)
|
|
{
|
|
bPoseChannel *rootchan = pchan;
|
|
int segcount = 0;
|
|
BLI_assert(rootchan != NULL);
|
|
while (rootchan->parent) {
|
|
/* Continue up chain, until we reach target number of items. */
|
|
segcount++;
|
|
if (segcount == data->chainlen) {
|
|
break;
|
|
}
|
|
rootchan = rootchan->parent;
|
|
}
|
|
return rootchan;
|
|
}
|