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Added an option in the IK constraint to disable stretching, useful

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in rigs with layered IK constraints. Also removed the tolerance
setting, this value wasn't used in the solver anymore.
This commit is contained in:
Brecht Van Lommel
2006-11-06 23:51:37 +00:00
parent 10a4b1ad8b
commit b48c514db8
7 changed files with 37 additions and 26 deletions
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2
source/blender/blenkernel/BKE_armature.h
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@@ -63,8 +63,8 @@ typedef struct PoseTree
int *parent; /* and their parents */
int totchannel; /* number of pose channels */
float (*basis_change)[3][3]; /* basis change result from solver */
float tolerance; /* tolerance from the constraint */
int iterations; /* iterations from the constraint */
int stretch; /* disable stretching */
} PoseTree;
/* Core armature functionality */

12
source/blender/blenkernel/intern/armature.c
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@@ -1118,9 +1118,9 @@ static void initialize_posetree(struct Object *ob, bPoseChannel *pchan_tip)
/* make new tree */
tree= MEM_callocN(sizeof(PoseTree), "posetree");
tree->tolerance= data->tolerance;
tree->iterations= data->iterations;
tree->totchannel= segcount;
tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
tree->pchan= MEM_callocN(segcount*sizeof(void*), "ik tree pchan");
tree->parent= MEM_callocN(segcount*sizeof(int), "ik tree parent");
@@ -1134,8 +1134,8 @@ static void initialize_posetree(struct Object *ob, bPoseChannel *pchan_tip)
BLI_addtail(&pchan_root->iktree, tree);
}
else {
tree->tolerance= MIN2(tree->tolerance, data->tolerance);
tree->iterations= MAX2(data->iterations, tree->iterations);
tree->stretch= tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH);
/* skip common pose channels and add remaining*/
size= MIN2(segcount, tree->totchannel);
@@ -1216,7 +1216,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
if((pchan->ikflag & BONE_IK_NO_ZDOF) == 0)
flag |= IK_ZDOF;
if(pchan->ikstretch > 0.0) {
if(tree->stretch && (pchan->ikstretch > 0.0)) {
flag |= IK_TRANS_YDOF;
hasstretch = 1;
}
@@ -1281,7 +1281,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]);
IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]);
if(pchan->ikstretch > 0.0) {
if(tree->stretch && (pchan->ikstretch > 0.0)) {
float ikstretch = pchan->ikstretch*pchan->ikstretch;
IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0-ikstretch, 0.99));
IK_SetLimit(seg, IK_TRANS_Y, 0.001, 1e10);
@@ -1352,7 +1352,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
}
/* solve */
IK_Solve(solver, tree->tolerance, tree->iterations);
IK_Solve(solver, 0.0f, tree->iterations);
IK_FreeSolver(solver);
/* gather basis changes */
@@ -1370,7 +1370,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
pchan= tree->pchan[a];
parentstretch= (tree->parent[a] >= 0)? ikstretch[tree->parent[a]]: 1.0;
if(pchan->ikstretch > 0.0) {
if(tree->stretch && (pchan->ikstretch > 0.0)) {
float trans[3], length;
IK_GetTranslationChange(iktree[a], trans);

4
source/blender/blenkernel/intern/constraint.c
View File

@@ -563,10 +563,10 @@ void *new_constraint_data (short type)
bKinematicConstraint *data;
data = MEM_callocN(sizeof(bKinematicConstraint), "kinematicConstraint");
data->tolerance = (float)0.001;
data->weight= (float)1.0;
data->orientweight= (float)1.0;
data->iterations = 500;
data->flag= CONSTRAINT_IK_TIP;
data->flag= CONSTRAINT_IK_TIP|CONSTRAINT_IK_STRETCH|CONSTRAINT_IK_POS;
result = data;
}

7
source/blender/blenloader/intern/readfile.c
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@@ -5764,6 +5764,13 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
data->flag&=~MINMAX_STICKY;
}
}
else if (curcon->type == CONSTRAINT_TYPE_KINEMATIC){
bKinematicConstraint *data = curcon->data;
if (!(data->flag & CONSTRAINT_IK_POS)) {
data->flag |= CONSTRAINT_IK_POS;
data->flag |= CONSTRAINT_IK_STRETCH;
}
}
}
}
}

7
source/blender/makesdna/DNA_constraint_types.h
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@@ -62,16 +62,15 @@ typedef struct bConstraint{
/* Single-target subobject constraints */
typedef struct bKinematicConstraint{
Object *tar;
float tolerance; /* Acceptable distance from target */
short iterations; /* Maximum number of iterations to try */
short flag; /* Like CONSTRAINT_IK_TIP */
int rootbone, pad; /* index to rootbone, if zero go all the way to mother bone */
int rootbone; /* index to rootbone, if zero go all the way to mother bone */
char subtarget[32]; /* String to specify sub-object target */
float weight; /* Weight of goal in IK tree */
float orientweight; /* Amount of rotation a target applies on chain */
float grabtarget[3]; /* for target-less IK */
float pad2;
int pad;
} bKinematicConstraint;
typedef struct bTrackToConstraint{
@@ -277,6 +276,8 @@ typedef struct bSizeLimitConstraint{
#define CONSTRAINT_IK_ROT 2
#define CONSTRAINT_IK_AUTO 4
#define CONSTRAINT_IK_TEMP 8
#define CONSTRAINT_IK_STRETCH 16
#define CONSTRAINT_IK_POS 32
/* MinMax (floor) flags */
#define MINMAX_STICKY 0x01

14
source/blender/python/api2_2x/Constraint.c
View File

@@ -67,7 +67,7 @@ enum constraint_constants {
EXPP_CONSTR_MINZ = TRACK_nZ,
EXPP_CONSTR_TARGET = 100,
EXPP_CONSTR_TOLERANCE,
EXPP_CONSTR_STRETCH,
EXPP_CONSTR_ITERATIONS,
EXPP_CONSTR_BONE,
EXPP_CONSTR_CHAINLEN,
@@ -390,8 +390,8 @@ static PyObject *kinematic_getter( BPy_Constraint * self, int type )
return Object_CreatePyObject( con->tar );
case EXPP_CONSTR_BONE:
return PyString_FromString( con->subtarget );
case EXPP_CONSTR_TOLERANCE:
return PyFloat_FromDouble( (double)con->tolerance );
case EXPP_CONSTR_STRETCH:
return PyBool_FromLong( (long)( con->flag & CONSTRAINT_IK_STRETCH ) ) ;
case EXPP_CONSTR_ITERATIONS:
return PyInt_FromLong( (long)con->iterations );
case EXPP_CONSTR_CHAINLEN:
@@ -432,8 +432,8 @@ static int kinematic_setter( BPy_Constraint *self, int type, PyObject *value )
return 0;
}
case EXPP_CONSTR_TOLERANCE:
return EXPP_setFloatClamped( value, &con->tolerance, 0.0001, 1.0 );
case EXPP_CONSTR_STRETCH:
return EXPP_setBitfield( value, &con->flag, CONSTRAINT_IK_STRETCH, 'h' );
case EXPP_CONSTR_ITERATIONS:
return EXPP_setIValueClamped( value, &con->iterations, 1, 10000, 'h' );
case EXPP_CONSTR_CHAINLEN:
@@ -1829,8 +1829,8 @@ static PyObject *M_Constraint_SettingsDict( void )
PyConstant_Insert( d, "TARGET",
PyInt_FromLong( EXPP_CONSTR_TARGET ) );
PyConstant_Insert( d, "TOLERANCE",
PyInt_FromLong( EXPP_CONSTR_TOLERANCE ) );
PyConstant_Insert( d, "STRETCH",
PyInt_FromLong( EXPP_CONSTR_STRETCH ) );
PyConstant_Insert( d, "ITERATIONS",
PyInt_FromLong( EXPP_CONSTR_ITERATIONS ) );
PyConstant_Insert( d, "BONE",

17
source/blender/src/buttons_object.c
View File

@@ -757,7 +757,7 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
{
bKinematicConstraint *data = con->data;
height = 108;
height = 111;
uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, "");
uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Target:", *xco+65, *yco-24, 50, 18, NULL, 0.0, 0.0, 0.0, 0.0, "");
@@ -776,14 +776,17 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
strcpy (data->subtarget, "");
uiBlockBeginAlign(block);
uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tip", *xco, *yco-64, 142, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tip als last element in Chain");
uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco+142, *yco-64,143,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tip", *xco, *yco-64, 137, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tip als last element in Chain");
uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco, *yco-84,137,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
uiBlockBeginAlign(block);
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco, *yco-86, 142, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "RotW ", *xco+142, *yco-86, 143, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Tolerance:", *xco, *yco-106, 142, 19, &data->tolerance, 0.0001f, 1.0, 0, 0, "Maximum distance to target after solving");
uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco+142, *yco-106, 143, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations");
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco+147, *yco-64, 137, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "RotW ", *xco+147, *yco-84, 137, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
uiBlockBeginAlign(block);
uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco, *yco-109, 137, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations");
uiBlockBeginAlign(block);
uiDefButBitS(block, TOG, CONSTRAINT_IK_STRETCH, B_CONSTRAINT_TEST, "Stretch", *xco+147, *yco-109,137,19, &data->flag, 0, 0, 0, 0, "Enable IK stretching");
}
break;