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Cleanup: comments (long lines) in ikplugin

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This commit is contained in:
Campbell Barton
2019-05-01 11:01:20 +10:00
parent c7041403d0
commit f70470b540
3 changed files with 40 additions and 22 deletions
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15
source/blender/ikplugin/BIK_api.h
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@@ -68,9 +68,18 @@ void BIK_clear_cache(struct bPose *pose);
void BIK_update_param(struct bPose *pose);
void BIK_test_constraint(struct Object *ob, struct bConstraint *cons);
// not yet implemented
// int BIK_get_constraint_param(struct bPose *pose, struct bConstraint *cons, int id, BIK_ParamValue *value);
// int BIK_get_channel_param(struct bPose *pose, struct bPoseChannel *pchan, int id, BIK_ParamValue *value);
// int BIK_get_solver_param(struct bPose *pose, struct bPoseChannel *pchan, int id, BIK_ParamValue *value);
// int BIK_get_constraint_param(struct bPose *pose,
// struct bConstraint *cons,
// int id,
// BIK_ParamValue *value);
// int BIK_get_channel_param(struct bPose *pose,
// struct bPoseChannel *pchan,
// int id,
// BIK_ParamValue *value);
// int BIK_get_solver_param(struct bPose *pose,
// struct bPoseChannel *pchan,
// int id,
// BIK_ParamValue *value);
// number of solver available
// 0 = iksolver

6
source/blender/ikplugin/intern/iksolver_plugin.c
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@@ -47,7 +47,8 @@
/* ********************** THE IK SOLVER ******************* */
/* allocates PoseTree, and links that to root bone/channel */
/* Note: detecting the IK chain is duplicate code... in drawarmature.c and in transform_conversions.c */
/* Note: detecting the IK chain is duplicate code...
* in drawarmature.c and in transform_conversions.c */
static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_tip)
{
bPoseChannel *curchan, *pchan_root = NULL, *chanlist[256], **oldchan;
@@ -575,7 +576,8 @@ void iksolver_execute_tree(struct Depsgraph *depsgraph,
for (a = 0; a < tree->totchannel; a++) {
if (!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag
BKE_pose_where_is_bone(depsgraph, scene, ob, tree->pchan[a], ctime, 1);
/* tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is() */
/* Tell blender that this channel was controlled by IK,
* it's cleared on each BKE_pose_where_is(). */
tree->pchan[a]->flag |= POSE_CHAIN;
}

41
source/blender/ikplugin/intern/itasc_plugin.cpp
View File

@@ -89,16 +89,16 @@ struct IK_Target {
iTaSC::ConstraintSet *constraint;
struct bConstraint *blenderConstraint;
struct bPoseChannel *rootChannel;
Object *owner; //for auto IK
Object *owner; // for auto IK
ErrorCallback errorCallback;
std::string targetName;
std::string constraintName;
unsigned short controlType;
short channel; //index in IK channel array of channel on which this target is defined
short ee; //end effector number
bool simulation; //true when simulation mode is used (update feedback)
bool eeBlend; //end effector affected by enforce blending
float eeRest[4][4]; //end effector initial pose relative to armature
short channel; // index in IK channel array of channel on which this target is defined
short ee; // end effector number
bool simulation; // true when simulation mode is used (update feedback)
bool eeBlend; // end effector affected by enforce blending
float eeRest[4][4]; // end effector initial pose relative to armature
IK_Target()
{
@@ -289,7 +289,8 @@ static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *co
/* create a target */
target = (PoseTarget *)MEM_callocN(sizeof(PoseTarget), "posetarget");
target->con = con;
// by contruction there can be only one tree per channel and each channel can be part of at most one tree.
// by contruction there can be only one tree per channel
// and each channel can be part of at most one tree.
tree = (PoseTree *)pchan_root->iktree.first;
if (tree == NULL) {
@@ -377,7 +378,7 @@ static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *co
static bool is_cartesian_constraint(bConstraint *con)
{
//bKinematicConstraint* data=(bKinematicConstraint *)con->data;
// bKinematicConstraint* data=(bKinematicConstraint *)con->data;
return true;
}
@@ -656,7 +657,8 @@ static bool base_callback(const iTaSC::Timestamp &timestamp,
1.0);
// convert to armature space
mul_m4_m4m4(polemat, imat, mat);
// get the target in world space (was computed before as target object are defined before base object)
// get the target in world space
// (was computed before as target object are defined before base object).
iktarget->target->getPose().getValue(mat[0]);
// convert to armature space
mul_m4_m4m4(goalmat, imat, mat);
@@ -849,11 +851,13 @@ static bool joint_callback(const iTaSC::Timestamp &timestamp,
float rmat[3][3];
if (chan->rotmode > 0) {
/* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */
/* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation
* orders) */
eulO_to_mat3(rmat, chan->eul, chan->rotmode);
}
else if (chan->rotmode == ROT_MODE_AXISANGLE) {
/* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */
/* axis-angle - stored in quaternion data,
* but not really that great for 3D-changing orientations */
axis_angle_to_mat3(rmat, &chan->quat[1], chan->quat[0]);
}
else {
@@ -936,7 +940,8 @@ static int convert_channels(struct Depsgraph *depsgraph,
// joint angles and can't be applied to the iTaSC armature dynamically
if (!(pchan->flag & POSE_DONE))
BKE_pose_where_is_bone(depsgraph, ikscene->blscene, ikscene->blArmature, pchan, ctime, 1);
// tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is()
// tell blender that this channel was controlled by IK,
// it's cleared on each BKE_pose_where_is()
pchan->flag |= (POSE_DONE | POSE_CHAIN);
/* set DoF flag */
@@ -1645,8 +1650,9 @@ static void execute_scene(struct Depsgraph *depsgraph,
IK_Channel *ikchan;
if (ikparam->flag & ITASC_SIMULATION) {
for (i = 0, ikchan = ikscene->channels; i < ikscene->numchan; i++, ++ikchan) {
// In simulation mode we don't allow external contraint to change our bones, mark the channel done
// also tell Blender that this channel is part of IK tree (cleared on each BKE_pose_where_is()
// In simulation mode we don't allow external contraint to change our bones, mark the channel
// done also tell Blender that this channel is part of IK tree
// (cleared on each BKE_pose_where_is()
ikchan->pchan->flag |= (POSE_DONE | POSE_CHAIN);
ikchan->jointValid = 0;
}
@@ -1656,7 +1662,8 @@ static void execute_scene(struct Depsgraph *depsgraph,
for (i = 0, ikchan = ikscene->channels; i < ikscene->numchan; i++, ++ikchan) {
if (!(ikchan->pchan->flag & POSE_DONE))
BKE_pose_where_is_bone(depsgraph, blscene, ikscene->blArmature, ikchan->pchan, ctime, 1);
// tell blender that this channel was controlled by IK, it's cleared on each BKE_pose_where_is()
// tell blender that this channel was controlled by IK,
// it's cleared on each BKE_pose_where_is()
ikchan->pchan->flag |= (POSE_DONE | POSE_CHAIN);
ikchan->jointValid = 0;
}
@@ -1906,8 +1913,8 @@ void itasc_update_param(struct bPose *pose)
CONSTRAINT_ID_ALL, iTaSC::Armature::ID_JOINT, iTaSC::ACT_FEEDBACK, ikparam->feedback);
}
else {
// in animation mode timestep is 1s by convention =>
// qmax becomes radiant and feedback becomes fraction of error gap corrected in one iteration
// in animation mode timestep is 1s by convention => qmax becomes radiant and feedback
// becomes fraction of error gap corrected in one iteration.
ikscene->scene->setParam(iTaSC::Scene::MIN_TIMESTEP, 1.0);
ikscene->scene->setParam(iTaSC::Scene::MAX_TIMESTEP, 1.0);
ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, 0.52);