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IK Solver:

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* Rename Legacy to Standard, it's not being deprecated as far as I know.
* Make option to toggle off Location solving work with Standard.
* Make it converge a bit better in some cases by enforcing a minimum number of
  iterations before giving up.
* Move IK solver choice out of bone panel, it's an armature level setting and
  should be set there.
This commit is contained in:
Brecht Van Lommel
2012-11-24 00:18:34 +00:00
parent 7cc12e5170
commit d8c257faa7
9 changed files with 31 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
intern/iksolver/intern/IK_QJacobianSolver.cpp
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@@ -377,7 +377,7 @@ bool IK_QJacobianSolver::Solve(
norm = maxnorm;
// check for convergence
if (norm < 1e-3) {
if (norm < 1e-3 && iterations > 10) {
solved = true;
break;
}

2
release/scripts/startup/bl_ui/properties_data_armature.py
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@@ -239,7 +239,7 @@ class DATA_PT_ghost(ArmatureButtonsPanel, Panel):
class DATA_PT_iksolver_itasc(ArmatureButtonsPanel, Panel):
bl_label = "iTaSC parameters"
bl_label = "Inverse Kinematics"
bl_options = {'DEFAULT_CLOSED'}
@classmethod

1
release/scripts/startup/bl_ui/properties_data_bone.py
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@@ -244,7 +244,6 @@ class BONE_PT_inverse_kinematics(BoneButtonsPanel, Panel):
pchan = ob.pose.bones[bone.name]
row = layout.row()
row.prop(ob.pose, "ik_solver")
active = pchan.is_in_ik_chain

28
release/scripts/startup/bl_ui/properties_object_constraint.py
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@@ -134,7 +134,7 @@ class ConstraintButtonsPanel():
layout.prop(con, "ik_type")
getattr(self, 'IK_' + con.ik_type)(context, layout, con)
else:
# Legacy IK constraint
# Standard IK constraint
self.target_template(layout, con)
layout.prop(con, "pole_target")
@@ -151,17 +151,27 @@ class ConstraintButtonsPanel():
col.prop(con, "iterations")
col.prop(con, "chain_count")
col.label(text="Weight:")
col.prop(con, "weight", text="Position", slider=True)
sub = col.column()
sub.active = con.use_rotation
sub.prop(con, "orient_weight", text="Rotation", slider=True)
col = split.column()
col.prop(con, "use_tail")
col.prop(con, "use_stretch")
col.separator()
col.prop(con, "use_rotation")
layout.label(text="Weight:")
split = layout.split()
col = split.column()
row = col.row(align=True)
row.prop(con, "use_location", text="")
sub = row.row()
sub.active = con.use_location
sub.prop(con, "weight", text="Position", slider=True)
col = split.column()
row = col.row(align=True)
row.prop(con, "use_rotation", text="")
sub = row.row()
sub.active = con.use_rotation
sub.prop(con, "orient_weight", text="Rotation", slider=True)
def IK_COPY_POSE(self, context, layout, con):
self.target_template(layout, con)

4
source/blender/blenkernel/intern/action.c
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@@ -512,7 +512,7 @@ const char *BKE_pose_ikparam_get_name(bPose *pose)
{
if (pose) {
switch (pose->iksolver) {
case IKSOLVER_LEGACY:
case IKSOLVER_STANDARD:
return NULL;
case IKSOLVER_ITASC:
return "bItasc";
@@ -587,7 +587,7 @@ void BKE_pose_ikparam_init(bPose *pose)
BKE_pose_itasc_init(itasc);
pose->ikparam = itasc;
break;
case IKSOLVER_LEGACY:
case IKSOLVER_STANDARD:
default:
pose->ikparam = NULL;
break;

3
source/blender/ikplugin/intern/iksolver_plugin.c
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@@ -379,6 +379,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
copy_v3_v3(goalpos, goal[3]);
copy_m3_m4(goalrot, goal);
normalize_m3(goalrot);
/* same for pole vector target */
if (data->poletar) {
@@ -433,7 +434,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
iktarget = iktree[target->tip];
if (data->weight != 0.0f) {
if ((data->flag & CONSTRAINT_IK_POS) && data->weight != 0.0f) {
if (poleconstrain)
IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
polepos, data->poleangle, (poleangledata == data));

2
source/blender/makesdna/DNA_action_types.h
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@@ -372,7 +372,7 @@ typedef enum ePose_Flags {
/* bPose->iksolver and bPose->ikparam->iksolver */
typedef enum ePose_IKSolverType {
IKSOLVER_LEGACY = 0,
IKSOLVER_STANDARD = 0,
IKSOLVER_ITASC = 1
} ePose_IKSolverType;

2
source/blender/makesrna/intern/rna_constraint.c
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@@ -614,7 +614,7 @@ static void rna_def_constraint_kinematic(BlenderRNA *brna)
RNA_def_property_update(prop, NC_OBJECT | ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop = RNA_def_property(srna, "iterations", PROP_INT, PROP_NONE);
RNA_def_property_range(prop, 1, 10000);
RNA_def_property_range(prop, 0, 10000);
RNA_def_property_ui_text(prop, "Iterations", "Maximum number of solving iterations");
RNA_def_property_update(prop, NC_OBJECT | ND_CONSTRAINT, "rna_Constraint_update");

10
source/blender/makesrna/intern/rna_pose.c
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@@ -675,7 +675,7 @@ static void rna_def_bone_group(BlenderRNA *brna)
}
static EnumPropertyItem prop_iksolver_items[] = {
{IKSOLVER_LEGACY, "LEGACY", 0, "Legacy", "Original IK solver"},
{IKSOLVER_STANDARD, "LEGACY", 0, "Standard", "Original IK solver"},
{IKSOLVER_ITASC, "ITASC", 0, "iTaSC", "Multi constraint, stateful IK solver"},
{0, NULL, 0, NULL, NULL}
};
@@ -1126,7 +1126,7 @@ static void rna_def_pose_itasc(BlenderRNA *brna)
prop = RNA_def_property(srna, "iterations", PROP_INT, PROP_NONE);
RNA_def_property_int_sdna(prop, NULL, "numiter");
RNA_def_property_range(prop, 1.f, 1000.f);
RNA_def_property_range(prop, 0, 1000);
RNA_def_property_ui_text(prop, "Iterations",
"Maximum number of iterations for convergence in case of reiteration");
RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Itasc_update");
@@ -1221,8 +1221,7 @@ static void rna_def_pose_ikparam(BlenderRNA *brna)
RNA_def_property_enum_sdna(prop, NULL, "iksolver");
RNA_def_property_clear_flag(prop, PROP_EDITABLE);
RNA_def_property_enum_items(prop, prop_iksolver_items);
RNA_def_property_ui_text(prop, "IK Solver",
"IK solver for which these parameters are defined, 0 for Legacy, 1 for iTaSC");
RNA_def_property_ui_text(prop, "IK Solver", "IK solver for which these parameters are defined");
}
/* pose.bone_groups */
@@ -1285,8 +1284,7 @@ static void rna_def_pose(BlenderRNA *brna)
RNA_def_property_enum_sdna(prop, NULL, "iksolver");
RNA_def_property_enum_funcs(prop, NULL, "rna_Pose_ik_solver_set", NULL);
RNA_def_property_enum_items(prop, prop_iksolver_items);
RNA_def_property_ui_text(prop, "IK Solver",
"Selection of IK solver for IK chain, current choice is 0 for Legacy, 1 for iTaSC");
RNA_def_property_ui_text(prop, "IK Solver", "Selection of IK solver for IK chain");
RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_ik_solver_update");
prop = RNA_def_property(srna, "ik_param", PROP_POINTER, PROP_NONE);