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IK work-in-progress commit;

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- Removed old convention that only allowed one "IK" connection for Bones
  in a joint. Was highly frustrating for editing trees or branches.
  In a next commit, there will be a different method to define IK target
  and IK root, so this option actually will become "Connect Bone" or so.

- the IK group name is gone, now is just an option "Tree IK". When IK
  chains share a root they'll form a tree.
  Todo is preventing conflicts here (will be for editor to define IK Root)

- Adding new IK constraint with CTRL+I activates Constraint
This commit is contained in:
Ton Roosendaal
2005-08-27 17:04:29 +00:00
parent 8f5bff6051
commit eb1f65768a
9 changed files with 39 additions and 71 deletions
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4
source/blender/blenkernel/BKE_armature.h
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@@ -55,12 +55,12 @@ typedef struct PoseTarget
typedef struct PoseChain typedef struct PoseChain
{ {
struct PoseChain *next, *prev; // hurms struct PoseChain *next, *prev;
struct bPoseChannel **pchanchain; struct bPoseChannel **pchanchain;
struct ListBase targets; struct ListBase targets;
int totchannel; int totchannel;
int tree; // true or false
float (*basis_change)[3][3]; float (*basis_change)[3][3];
char group[32];
float tolerance; float tolerance;
int iterations; int iterations;
} PoseChain; } PoseChain;

10
source/blender/blenkernel/intern/armature.c
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@@ -1012,10 +1012,10 @@ static void initialize_posechain(struct Object *ob, bPoseChannel *pchan_tip)
/* setup the chain data */ /* setup the chain data */
chain = NULL; chain = NULL;
/* if part of group, look for existing chain */ /* if tree-IK, look for mathing chain */
if(strlen(data->group) > 0) if(data->flag & CONSTRAINT_IK_TREE)
for(chain= pchan_root->chain.first; chain; chain= chain->next) for(chain= pchan_root->chain.first; chain; chain= chain->next)
if(strcmp(data->group, chain->group)==0) break; if(chain->tree) break;
/* create a target */ /* create a target */
target= MEM_callocN(sizeof(PoseTarget), "posetarget"); target= MEM_callocN(sizeof(PoseTarget), "posetarget");
@@ -1025,7 +1025,7 @@ static void initialize_posechain(struct Object *ob, bPoseChannel *pchan_tip)
/* make new chain */ /* make new chain */
chain= MEM_callocN(sizeof(PoseChain), "posechain"); chain= MEM_callocN(sizeof(PoseChain), "posechain");
strcpy(chain->group, data->group); chain->tree= data->flag & CONSTRAINT_IK_TREE;
chain->tolerance= data->tolerance; chain->tolerance= data->tolerance;
chain->iterations= data->iterations; chain->iterations= data->iterations;
chain->totchannel= segcount; chain->totchannel= segcount;
@@ -1223,7 +1223,7 @@ static void execute_posechain(Object *ob, PoseChain *chain)
if(data->weight != 0.0) if(data->weight != 0.0)
IK_SolverAddGoal(solver, iktarget, goalpos, data->weight); IK_SolverAddGoal(solver, iktarget, goalpos, data->weight);
if((data->flag & KINEMATIC_ORIENTATION) && (data->orientweight != 0.0)) if((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0))
IK_SolverAddGoalOrientation(solver, iktarget, goalrot, data->orientweight); IK_SolverAddGoalOrientation(solver, iktarget, goalrot, data->orientweight);
} }

2
source/blender/blenloader/intern/readfile.c
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@@ -4917,7 +4917,7 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
bKinematicConstraint *data = (bKinematicConstraint*)con->data; bKinematicConstraint *data = (bKinematicConstraint*)con->data;
data->weight = 1.0f; data->weight = 1.0f;
data->orientweight = 0.0f; data->orientweight = 0.0f;
data->flag &= ~KINEMATIC_ORIENTATION; data->flag &= ~CONSTRAINT_IK_ROT;
} }
} }
} }

3
source/blender/include/BIF_editarmature.h
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@@ -103,9 +103,6 @@ void selectconnected_armature(void);
void selectconnected_posearmature(void); void selectconnected_posearmature(void);
void select_bone_by_name (struct bArmature *arm, char *name, int select); void select_bone_by_name (struct bArmature *arm, char *name, int select);
void unique_editbone_name (char* name); void unique_editbone_name (char* name);
void attach_bone_to_parent(EditBone *bone);
void attach_bone_to_parent_cb(void *bonev, void *arg2_unused);
void auto_align_armature(void); void auto_align_armature(void);
void create_vgroups_from_armature(Object *ob, Object *par); void create_vgroups_from_armature(Object *ob, Object *par);

10
source/blender/makesdna/DNA_constraint_types.h
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@@ -67,9 +67,8 @@ typedef struct bKinematicConstraint{
short flag; /* Like IK to Tip */ short flag; /* Like IK to Tip */
char subtarget[32]; /* String to specify sub-object target */ char subtarget[32]; /* String to specify sub-object target */
char group[32]; /* Name of group */ float weight; /* Weight of goal in IK tree */
float weight; /* Weight of goal in IK group */ float orientweight; /* Amount of rotation a target applies on chain */
float orientweight;
} bKinematicConstraint; } bKinematicConstraint;
typedef struct bTrackToConstraint{ typedef struct bTrackToConstraint{
@@ -214,8 +213,9 @@ typedef struct bStretchToConstraint{
#define PLANE_Z 0x02 #define PLANE_Z 0x02
/* bKinematicConstraint->flag */ /* bKinematicConstraint->flag */
#define CONSTRAINT_IK_TIP 1 #define CONSTRAINT_IK_TIP 1
#define KINEMATIC_ORIENTATION 2 #define CONSTRAINT_IK_ROT 2
#define CONSTRAINT_IK_TREE 4
#endif #endif

15
source/blender/src/buttons_editing.c
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@@ -2065,6 +2065,18 @@ static int editbone_to_parnr (EditBone *bone)
return -1; return -1;
} }
/* the "IK" button in editbuttons */
static void attach_bone_to_parent_cb(void *bonev, void *arg2_unused)
{
EditBone *ebone= bonev;
if (ebone->parent && (ebone->flag & BONE_IK_TOPARENT)) {
/* Attach this bone to its parent */
VECCOPY(ebone->head, ebone->parent->tail);
}
}
static void parnr_to_editbone(EditBone *bone) static void parnr_to_editbone(EditBone *bone)
{ {
if (bone->parNr == -1){ if (bone->parNr == -1){
@@ -2073,7 +2085,7 @@ static void parnr_to_editbone(EditBone *bone)
} }
else{ else{
bone->parent = BLI_findlink(&G.edbo, bone->parNr); bone->parent = BLI_findlink(&G.edbo, bone->parNr);
attach_bone_to_parent(bone); attach_bone_to_parent_cb(bone, NULL);
} }
} }
@@ -2202,6 +2214,7 @@ static void editing_panel_armature_type(Object *ob, bArmature *arm)
} }
static void editing_panel_armature_bones(Object *ob, bArmature *arm) static void editing_panel_armature_bones(Object *ob, bArmature *arm)
{ {
uiBlock *block; uiBlock *block;

4
source/blender/src/buttons_object.c
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@@ -608,10 +608,10 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco+((width/2)+3), *yco-64, 120, 18, &data->iterations, 1, 10000, 0.0, 0.0, "Maximum number of solving iterations"); uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco+((width/2)+3), *yco-64, 120, 18, &data->iterations, 1, 10000, 0.0, 0.0, "Maximum number of solving iterations");
uiBlockEndAlign(block); uiBlockEndAlign(block);
uiDefBut(block, TEX, B_CONSTRAINT_TEST, "IK group:", *xco+((width/2)-117), *yco-86,120,18, &data->group, 0, 24, 0, 0, "IK group name"); uiDefButBitS(block, TOG, CONSTRAINT_IK_TREE, B_CONSTRAINT_TEST, "Tree IK", *xco+((width/2)-117), *yco-86,120,18, &data->flag, 0, 0, 0, 0, "IK chain becomes tree, when it shares Root with other Chains");
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "Weight ", *xco+((width/2)+3), *yco-86, 120, 18, &data->weight, 0.0, 1.0, 0.0, 0.0, "Weight of position control for this target"); uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "Weight ", *xco+((width/2)+3), *yco-86, 120, 18, &data->weight, 0.0, 1.0, 0.0, 0.0, "Weight of position control for this target");
uiDefButBitS(block, TOG, KINEMATIC_ORIENTATION, B_CONSTRAINT_TEST, "Orientation", *xco+((width/2)-117), *yco-108,120,18, &data->flag, 0, 0, 0, 0, "Follow orientation of target"); uiDefButBitS(block, TOG, CONSTRAINT_IK_ROT, B_CONSTRAINT_TEST, "Orientation", *xco+((width/2)-117), *yco-108,120,18, &data->flag, 0, 0, 0, 0, "Follow orientation of target");
uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "Weight ", *xco+((width/2)+3), *yco-108, 120, 18, &data->orientweight, 0.0, 1.0, 0.0, 0.0, "Weight of orientation control for this target"); uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "Weight ", *xco+((width/2)+3), *yco-108, 120, 18, &data->orientweight, 0.0, 1.0, 0.0, 0.0, "Weight of orientation control for this target");
} }
break; break;

56
source/blender/src/editarmature.c
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@@ -1248,7 +1248,7 @@ void add_primitiveArmature(int type)
/* the ctrl-click method */ /* the ctrl-click method */
void addvert_armature(void) void addvert_armature(void)
{ {
EditBone *ebone, *newbone, *partest; EditBone *ebone, *newbone;
float *curs, mat[3][3],imat[3][3]; float *curs, mat[3][3],imat[3][3];
int to_root= 0; int to_root= 0;
@@ -1279,16 +1279,8 @@ void addvert_armature(void)
else { else {
VECCOPY(newbone->head, ebone->tail); VECCOPY(newbone->head, ebone->tail);
/* See if there are any ik children of the parent */
for (partest = G.edbo.first; partest; partest= partest->next){
if ((partest->parent == ebone) && (partest->flag & BONE_IK_TOPARENT))
break;
}
if(!partest)
newbone->flag |= BONE_IK_TOPARENT;
newbone->parent= ebone; newbone->parent= ebone;
newbone->flag |= BONE_IK_TOPARENT;
} }
curs= give_cursor(); curs= give_cursor();
@@ -1453,37 +1445,6 @@ void show_all_armature_bones(void)
allqueue(REDRAWBUTSEDIT, 0); allqueue(REDRAWBUTSEDIT, 0);
} }
/* the "IK" button in editbuttons */
void attach_bone_to_parent_cb(void *bonev, void *arg2_unused)
{
EditBone *ebone= bonev;
attach_bone_to_parent(ebone);
}
void attach_bone_to_parent(EditBone *bone)
{
EditBone *ebone;
if (bone->flag & BONE_IK_TOPARENT) {
/* See if there are any other bones that refer to the same
* parent and disconnect them
*/
for (ebone = G.edbo.first; ebone; ebone=ebone->next){
if (ebone!=bone){
if (ebone->parent && (ebone->parent == bone->parent) &&
(ebone->flag & BONE_IK_TOPARENT))
ebone->flag &= ~BONE_IK_TOPARENT;
}
}
/* Attach this bone to its parent */
VECCOPY(bone->head, bone->parent->tail);
}
}
void make_bone_parent(void) void make_bone_parent(void)
{ {
EditBone *ebone; EditBone *ebone;
@@ -1631,7 +1592,7 @@ void unique_editbone_name (char *name)
void extrude_armature(int forked) void extrude_armature(int forked)
{ {
bArmature *arm= G.obedit->data; bArmature *arm= G.obedit->data;
EditBone *newbone, *ebone, *flipbone, *first=NULL, *partest; EditBone *newbone, *ebone, *flipbone, *first=NULL;
int a, totbone= 0, do_extrude; int a, totbone= 0, do_extrude;
TEST_EDITARMATURE; TEST_EDITARMATURE;
@@ -1713,16 +1674,7 @@ void extrude_armature(int forked)
newbone->segments= 1; newbone->segments= 1;
newbone->boneclass= ebone->boneclass; newbone->boneclass= ebone->boneclass;
/* See if there are any ik children of the parent */ newbone->flag |= BONE_IK_TOPARENT;
if(do_extrude==1) {
for (partest = G.edbo.first; partest; partest=partest->next){
if ((partest->parent == ebone) && (partest->flag & BONE_IK_TOPARENT))
break;
}
if (!partest)
newbone->flag |= BONE_IK_TOPARENT;
}
strcpy (newbone->name, ebone->name); strcpy (newbone->name, ebone->name);

6
source/blender/src/poseobject.c
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@@ -299,6 +299,12 @@ void pose_add_IK(void)
set_constraint_target(con, ob, pchansel->name); set_constraint_target(con, ob, pchansel->name);
} }
/* active flag */
con->flag |= CONSTRAINT_ACTIVE;
for(con= con->prev; con; con= con->prev)
con->flag &= ~CONSTRAINT_ACTIVE;
ob->pose->flag |= POSE_RECALC; // sort pose channels ob->pose->flag |= POSE_RECALC; // sort pose channels
DAG_scene_sort(G.scene); // sort order of objects DAG_scene_sort(G.scene); // sort order of objects