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blender-archive/source/blender/blenkernel/intern/armature.c
Sergey Sharybin 528841ba90 Depsgraph: Remove workarounds used for cyclic dependencies 
This was dangerous to do such calculations, and now it is solvable by making
dependency graph more granular in this case. Removing the workaround also saves
us a hassle of passing lots of extra arguments down the evaluation routines.

In theory, we can also remove EvaluationCOntext from constraints evaluation as
well now. But probably better to wait with such removal for now.

This commit effectively reverts 1130c53. Will do a proper fix in dependency
graph itself.
2017-11-21 14:23:57 +01:00

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/*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* Contributor(s): Full recode, Ton Roosendaal, Crete 2005
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file blender/blenkernel/intern/armature.c
* \ingroup bke
*/
#include <ctype.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <float.h>
#include "MEM_guardedalloc.h"
#include "BLI_math.h"
#include "BLI_listbase.h"
#include "BLI_string.h"
#include "BLI_ghash.h"
#include "BLI_task.h"
#include "BLI_utildefines.h"
#include "DNA_anim_types.h"
#include "DNA_armature_types.h"
#include "DNA_constraint_types.h"
#include "DNA_mesh_types.h"
#include "DNA_lattice_types.h"
#include "DNA_listBase.h"
#include "DNA_meshdata_types.h"
#include "DNA_scene_types.h"
#include "DNA_object_types.h"
#include "BKE_animsys.h"
#include "BKE_armature.h"
#include "BKE_action.h"
#include "BKE_anim.h"
#include "BKE_constraint.h"
#include "BKE_curve.h"
#include "BKE_DerivedMesh.h"
#include "BKE_deform.h"
#include "BKE_displist.h"
#include "BKE_global.h"
#include "BKE_idprop.h"
#include "BKE_library.h"
#include "BKE_library_query.h"
#include "BKE_library_remap.h"
#include "BKE_lattice.h"
#include "BKE_main.h"
#include "BKE_object.h"
#include "BKE_scene.h"
#include "BIK_api.h"
#include "BKE_sketch.h"
/* **************** Generic Functions, data level *************** */
bArmature *BKE_armature_add(Main *bmain, const char *name)
{
bArmature *arm;
arm = BKE_libblock_alloc(bmain, ID_AR, name, 0);
arm->deformflag = ARM_DEF_VGROUP | ARM_DEF_ENVELOPE;
arm->flag = ARM_COL_CUSTOM; /* custom bone-group colors */
arm->layer = 1;
arm->ghostsize = 1;
return arm;
}
bArmature *BKE_armature_from_object(Object *ob)
{
if (ob->type == OB_ARMATURE)
return (bArmature *)ob->data;
return NULL;
}
int BKE_armature_bonelist_count(ListBase *lb)
{
int i = 0;
for (Bone *bone = lb->first; bone; bone = bone->next) {
i += 1 + BKE_armature_bonelist_count(&bone->childbase);
}
return i;
}
void BKE_armature_bonelist_free(ListBase *lb)
{
Bone *bone;
for (bone = lb->first; bone; bone = bone->next) {
if (bone->prop) {
IDP_FreeProperty(bone->prop);
MEM_freeN(bone->prop);
}
BKE_armature_bonelist_free(&bone->childbase);
}
BLI_freelistN(lb);
}
/** Free (or release) any data used by this armature (does not free the armature itself). */
void BKE_armature_free(bArmature *arm)
{
BKE_animdata_free(&arm->id, false);
BKE_armature_bonelist_free(&arm->bonebase);
/* free editmode data */
if (arm->edbo) {
BLI_freelistN(arm->edbo);
MEM_freeN(arm->edbo);
arm->edbo = NULL;
}
/* free sketch */
if (arm->sketch) {
freeSketch(arm->sketch);
arm->sketch = NULL;
}
}
void BKE_armature_make_local(Main *bmain, bArmature *arm, const bool lib_local)
{
BKE_id_make_local_generic(bmain, &arm->id, true, lib_local);
}
static void copy_bonechildren(
Bone *bone_dst, const Bone *bone_src, const Bone *bone_src_act, Bone **r_bone_dst_act, const int flag)
{
Bone *bone_src_child, *bone_dst_child;
if (bone_src == bone_src_act) {
*r_bone_dst_act = bone_dst;
}
if (bone_src->prop) {
bone_dst->prop = IDP_CopyProperty_ex(bone_src->prop, flag);
}
/* Copy this bone's list */
BLI_duplicatelist(&bone_dst->childbase, &bone_src->childbase);
/* For each child in the list, update it's children */
for (bone_src_child = bone_src->childbase.first, bone_dst_child = bone_dst->childbase.first;
bone_src_child;
bone_src_child = bone_src_child->next, bone_dst_child = bone_dst_child->next)
{
bone_dst_child->parent = bone_dst;
copy_bonechildren(bone_dst_child, bone_src_child, bone_src_act, r_bone_dst_act, flag);
}
}
/**
* Only copy internal data of Armature ID from source to already allocated/initialized destination.
* You probably nerver want to use that directly, use id_copy or BKE_id_copy_ex for typical needs.
*
* WARNING! This function will not handle ID user count!
*
* \param flag Copying options (see BKE_library.h's LIB_ID_COPY_... flags for more).
*/
void BKE_armature_copy_data(Main *UNUSED(bmain), bArmature *arm_dst, const bArmature *arm_src, const int flag)
{
Bone *bone_src, *bone_dst;
Bone *bone_dst_act = NULL;
/* We never handle usercount here for own data. */
const int flag_subdata = flag | LIB_ID_CREATE_NO_USER_REFCOUNT;
BLI_duplicatelist(&arm_dst->bonebase, &arm_src->bonebase);
/* Duplicate the childrens' lists */
bone_dst = arm_dst->bonebase.first;
for (bone_src = arm_src->bonebase.first; bone_src; bone_src = bone_src->next) {
bone_dst->parent = NULL;
copy_bonechildren(bone_dst, bone_src, arm_src->act_bone, &bone_dst_act, flag_subdata);
bone_dst = bone_dst->next;
}
arm_dst->act_bone = bone_dst_act;
arm_dst->edbo = NULL;
arm_dst->act_edbone = NULL;
arm_dst->sketch = NULL;
}
bArmature *BKE_armature_copy(Main *bmain, const bArmature *arm)
{
bArmature *arm_copy;
BKE_id_copy_ex(bmain, &arm->id, (ID **)&arm_copy, 0, false);
return arm_copy;
}
static Bone *get_named_bone_bonechildren(ListBase *lb, const char *name)
{
Bone *curBone, *rbone;
for (curBone = lb->first; curBone; curBone = curBone->next) {
if (STREQ(curBone->name, name))
return curBone;
rbone = get_named_bone_bonechildren(&curBone->childbase, name);
if (rbone)
return rbone;
}
return NULL;
}
/**
* Walk the list until the bone is found (slow!),
* use #BKE_armature_bone_from_name_map for multiple lookups.
*/
Bone *BKE_armature_find_bone_name(bArmature *arm, const char *name)
{
if (!arm)
return NULL;
return get_named_bone_bonechildren(&arm->bonebase, name);
}
static void armature_bone_from_name_insert_recursive(GHash *bone_hash, ListBase *lb)
{
for (Bone *bone = lb->first; bone; bone = bone->next) {
BLI_ghash_insert(bone_hash, bone->name, bone);
armature_bone_from_name_insert_recursive(bone_hash, &bone->childbase);
}
}
/**
* Create a (name -> bone) map.
*
* \note typically #bPose.chanhash us used via #BKE_pose_channel_find_name
* this is for the cases we can't use pose channels.
*/
GHash *BKE_armature_bone_from_name_map(bArmature *arm)
{
const int bones_count = BKE_armature_bonelist_count(&arm->bonebase);
GHash *bone_hash = BLI_ghash_str_new_ex(__func__, bones_count);
armature_bone_from_name_insert_recursive(bone_hash, &arm->bonebase);
return bone_hash;
}
bool BKE_armature_bone_flag_test_recursive(const Bone *bone, int flag)
{
if (bone->flag & flag) {
return true;
}
else if (bone->parent) {
return BKE_armature_bone_flag_test_recursive(bone->parent, flag);
}
else {
return false;
}
}
/* 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 ******************* */
/* data has MAX_BBONE_SUBDIV+1 interpolated points, will become desired amount with equal distances */
void equalize_bbone_bezier(float *data, int desired)
{
float *fp, totdist, ddist, dist, fac1, fac2;
float pdist[MAX_BBONE_SUBDIV + 1];
float temp[MAX_BBONE_SUBDIV + 1][4];
int a, nr;
pdist[0] = 0.0f;
for (a = 0, fp = data; a < MAX_BBONE_SUBDIV; a++, fp += 4) {
copy_qt_qt(temp[a], fp);
pdist[a + 1] = pdist[a] + len_v3v3(fp, fp + 4);
}
/* do last point */
copy_qt_qt(temp[a], fp);
totdist = pdist[a];
/* go over distances and calculate new points */
ddist = totdist / ((float)desired);
nr = 1;
for (a = 1, fp = data + 4; a < desired; a++, fp += 4) {
dist = ((float)a) * ddist;
/* we're looking for location (distance) 'dist' in the array */
while ((nr < MAX_BBONE_SUBDIV) && (dist >= pdist[nr]))
nr++;
fac1 = pdist[nr] - pdist[nr - 1];
fac2 = pdist[nr] - dist;
fac1 = fac2 / fac1;
fac2 = 1.0f - fac1;
fp[0] = fac1 * temp[nr - 1][0] + fac2 * temp[nr][0];
fp[1] = fac1 * temp[nr - 1][1] + fac2 * temp[nr][1];
fp[2] = fac1 * temp[nr - 1][2] + fac2 * temp[nr][2];
fp[3] = fac1 * temp[nr - 1][3] + fac2 * temp[nr][3];
}
/* set last point, needed for orientation calculus */
copy_qt_qt(fp, temp[MAX_BBONE_SUBDIV]);
}
/* returns pointer to static array, filled with desired amount of bone->segments elements */
/* this calculation is done within unit bone space */
void b_bone_spline_setup(bPoseChannel *pchan, int rest, Mat4 result_array[MAX_BBONE_SUBDIV])
{
bPoseChannel *next, *prev;
Bone *bone = pchan->bone;
float h1[3], h2[3], scale[3], length, roll1 = 0.0f, roll2;
float mat3[3][3], imat[4][4], posemat[4][4], scalemat[4][4], iscalemat[4][4];
float data[MAX_BBONE_SUBDIV + 1][4], *fp;
int a;
bool do_scale = false;
length = bone->length;
if (!rest) {
/* 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) {
size_to_mat4(scalemat, scale);
invert_m4_m4(iscalemat, scalemat);
length *= scale[1];
do_scale = 1;
}
}
/* get "next" and "prev" bones - these are used for handle calculations */
if (pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) {
/* use the provided bones as the next/prev - leave blank to eliminate this effect altogether */
prev = pchan->bbone_prev;
next = pchan->bbone_next;
}
else {
/* evaluate next and prev bones */
if (bone->flag & BONE_CONNECTED)
prev = pchan->parent;
else
prev = NULL;
next = pchan->child;
}
/* 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 (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 difmat[4][4], result[3][3], imat3[3][3];
/* transform previous point inside this bone space */
if ((pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) &&
(pchan->bboneflag & PCHAN_BBONE_CUSTOM_START_REL))
{
/* Use delta movement (from restpose), and apply this relative to the current bone's head */
if (rest) {
/* in restpose, arm_head == pose_head */
h1[0] = h1[1] = h1[2] = 0.0f;
}
else {
float delta[3];
sub_v3_v3v3(delta, prev->pose_head, prev->bone->arm_head);
sub_v3_v3v3(h1, pchan->pose_head, delta);
}
}
else {
/* Use bone head as absolute position */
if (rest)
copy_v3_v3(h1, prev->bone->arm_head);
else
copy_v3_v3(h1, prev->pose_head);
}
mul_m4_v3(imat, h1);
if (prev->bone->segments > 1) {
/* if previous bone is B-bone too, use average handle direction */
h1[1] -= length;
roll1 = 0.0f;
}
normalize_v3(h1);
negate_v3(h1);
if (prev->bone->segments == 1) {
/* find the previous roll to interpolate */
if (rest)
mul_m4_m4m4(difmat, imat, prev->bone->arm_mat);
else
mul_m4_m4m4(difmat, imat, prev->pose_mat);
copy_m3_m4(result, difmat); /* the desired rotation at beginning of next bone */
vec_roll_to_mat3(h1, 0.0f, mat3); /* the result of vec_roll without roll */
invert_m3_m3(imat3, mat3);
mul_m3_m3m3(mat3, result, imat3); /* the matrix transforming vec_roll to desired roll */
roll1 = atan2f(mat3[2][0], mat3[2][2]);
}
}
else {
h1[0] = 0.0f; h1[1] = 1.0; h1[2] = 0.0f;
roll1 = 0.0f;
}
if (next) {
float difmat[4][4], result[3][3], imat3[3][3];
/* transform next point inside this bone space */
if ((pchan->bboneflag & PCHAN_BBONE_CUSTOM_HANDLES) &&
(pchan->bboneflag & PCHAN_BBONE_CUSTOM_END_REL))
{
/* Use delta movement (from restpose), and apply this relative to the current bone's tail */
if (rest) {
/* in restpose, arm_tail == pose_tail */
h2[0] = h2[1] = h2[2] = 0.0f;
}
else {
float delta[3];
sub_v3_v3v3(delta, next->pose_tail, next->bone->arm_tail);
add_v3_v3v3(h2, pchan->pose_tail, delta);
}
}
else {
/* Use bone tail as absolute position */
if (rest)
copy_v3_v3(h2, next->bone->arm_tail);
else
copy_v3_v3(h2, next->pose_tail);
}
mul_m4_v3(imat, h2);
/* if next bone is B-bone too, use average handle direction */
if (next->bone->segments > 1) {
/* pass */
}
else {
h2[1] -= length;
}
normalize_v3(h2);
/* find the next roll to interpolate as well */
if (rest)
mul_m4_m4m4(difmat, imat, next->bone->arm_mat);
else
mul_m4_m4m4(difmat, imat, next->pose_mat);
copy_m3_m4(result, difmat); /* the desired rotation at beginning of next bone */
vec_roll_to_mat3(h2, 0.0f, mat3); /* the result of vec_roll without roll */
invert_m3_m3(imat3, mat3);
mul_m3_m3m3(mat3, imat3, result); /* the matrix transforming vec_roll to desired roll */
roll2 = atan2f(mat3[2][0], mat3[2][2]);
}
else {
h2[0] = 0.0f; h2[1] = 1.0f; h2[2] = 0.0f;
roll2 = 0.0;
}
{
const float circle_factor = length * (cubic_tangent_factor_circle_v3(h1, h2) / 0.75f);
const float combined_ease1 = bone->ease1 + (!rest ? pchan->ease1 : 0.0f);
const float combined_ease2 = bone->ease2 + (!rest ? pchan->ease2 : 0.0f);
const float hlength1 = combined_ease1 * circle_factor;
const float hlength2 = combined_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 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
*/
{
/* add extra rolls */
roll1 += bone->roll1 + (!rest ? pchan->roll1 : 0.0f);
roll2 += bone->roll2 + (!rest ? pchan->roll2 : 0.0f);
if (bone->flag & BONE_ADD_PARENT_END_ROLL) {
if (prev) {
if (prev->bone)
roll1 += prev->bone->roll2;
if (!rest)
roll1 += prev->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 = (do_scale) ? scale[0] : 1.0f;
const float yscale_correction = (do_scale) ? scale[2] : 1.0f;
h1[0] += (bone->curveInX + (!rest ? pchan->curveInX : 0.0f)) * xscale_correction;
h1[2] += (bone->curveInY + (!rest ? pchan->curveInY : 0.0f)) * yscale_correction;
h2[0] += (bone->curveOutX + (!rest ? pchan->curveOutX : 0.0f)) * xscale_correction;
h2[2] += (bone->curveOutY + (!rest ? pchan->curveOutY : 0.0f)) * yscale_correction;
}
/* make curve */
if (bone->segments > MAX_BBONE_SUBDIV)
bone->segments = MAX_BBONE_SUBDIV;
BKE_curve_forward_diff_bezier(0.0f, h1[0], h2[0], 0.0f, data[0], MAX_BBONE_SUBDIV, 4 * sizeof(float));
BKE_curve_forward_diff_bezier(0.0f, h1[1], length + h2[1], length, data[0] + 1, MAX_BBONE_SUBDIV, 4 * sizeof(float));
BKE_curve_forward_diff_bezier(0.0f, h1[2], h2[2], 0.0f, data[0] + 2, MAX_BBONE_SUBDIV, 4 * sizeof(float));
BKE_curve_forward_diff_bezier(roll1, roll1 + 0.390464f * (roll2 - roll1), roll2 - 0.390464f * (roll2 - roll1), roll2, data[0] + 3, MAX_BBONE_SUBDIV, 4 * sizeof(float));
equalize_bbone_bezier(data[0], bone->segments); /* note: does stride 4! */
/* make transformation matrices for the segments for drawing */
for (a = 0, fp = data[0]; a < bone->segments; a++, fp += 4) {
sub_v3_v3v3(h1, fp + 4, fp);
vec_roll_to_mat3(h1, fp[3], mat3); /* fp[3] is roll */
copy_m4_m3(result_array[a].mat, mat3);
copy_v3_v3(result_array[a].mat[3], fp);
if (do_scale) {
/* correct for scaling when this matrix is used in scaled space */
mul_m4_series(result_array[a].mat, iscalemat, result_array[a].mat, scalemat);
}
/* BBone scale... */
{
const int num_segments = bone->segments;
const float scaleIn = bone->scaleIn * (!rest ? pchan->scaleIn : 1.0f);
const float scaleFactorIn = 1.0f + (scaleIn - 1.0f) * ((float)(num_segments - a) / (float)num_segments);
const float scaleOut = bone->scaleOut * (!rest ? pchan->scaleOut : 1.0f);
const float scaleFactorOut = 1.0f + (scaleOut - 1.0f) * ((float)(a + 1) / (float)num_segments);
const float scalefac = scaleFactorIn * scaleFactorOut;
float bscalemat[4][4], bscale[3];
bscale[0] = scalefac;
bscale[1] = 1.0f;
bscale[2] = scalefac;
size_to_mat4(bscalemat, bscale);
/* Note: don't multiply by inverse scale mat here, as it causes problems with scaling shearing and breaking segment chains */
/*mul_m4_series(result_array[a].mat, ibscalemat, result_array[a].mat, bscalemat);*/
mul_m4_series(result_array[a].mat, result_array[a].mat, bscalemat);
}
}
}
/* ************ Armature Deform ******************* */
typedef struct bPoseChanDeform {
Mat4 *b_bone_mats;
DualQuat *dual_quat;
DualQuat *b_bone_dual_quats;
} bPoseChanDeform;
static void pchan_b_bone_defmats(bPoseChannel *pchan, bPoseChanDeform *pdef_info, const bool use_quaternion)
{
Bone *bone = pchan->bone;
Mat4 b_bone[MAX_BBONE_SUBDIV], b_bone_rest[MAX_BBONE_SUBDIV];
Mat4 *b_bone_mats;
DualQuat *b_bone_dual_quats = NULL;
int a;
b_bone_spline_setup(pchan, 0, b_bone);
b_bone_spline_setup(pchan, 1, b_bone_rest);
/* allocate b_bone matrices and dual quats */
b_bone_mats = MEM_mallocN((1 + bone->segments) * sizeof(Mat4), "BBone defmats");
pdef_info->b_bone_mats = b_bone_mats;
if (use_quaternion) {
b_bone_dual_quats = MEM_mallocN((bone->segments) * sizeof(DualQuat), "BBone dqs");
pdef_info->b_bone_dual_quats = b_bone_dual_quats;
}
/* 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);
if (use_quaternion)
mat4_to_dquat(&b_bone_dual_quats[a], bone->arm_mat, b_bone_mats[a + 1].mat);
}
}
static void b_bone_deform(bPoseChanDeform *pdef_info, Bone *bone, float co[3], DualQuat *dq, float defmat[3][3])
{
Mat4 *b_bone = pdef_info->b_bone_mats;
float (*mat)[4] = b_bone[0].mat;
float segment, y;
int a;
/* need to transform co back to bonespace, only need y */
y = mat[0][1] * co[0] + mat[1][1] * co[1] + mat[2][1] * co[2] + mat[3][1];
/* now calculate which of the b_bones are deforming this */
segment = bone->length / ((float)bone->segments);
a = (int)(y / segment);
/* note; by clamping it extends deform at endpoints, goes best with
* straight joints in restpos. */
CLAMP(a, 0, bone->segments - 1);
if (dq) {
copy_dq_dq(dq, &(pdef_info->b_bone_dual_quats)[a]);
}
else {
mul_m4_v3(b_bone[a + 1].mat, co);
if (defmat) {
copy_m3_m4(defmat, b_bone[a + 1].mat);
}
}
}
/* 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 void pchan_deform_mat_add(bPoseChannel *pchan, float weight, float bbonemat[3][3], float mat[3][3])
{
float wmat[3][3];
if (pchan->bone->segments > 1)
copy_m3_m3(wmat, bbonemat);
else
copy_m3_m4(wmat, pchan->chan_mat);
mul_m3_fl(wmat, weight);
add_m3_m3m3(mat, mat, wmat);
}
static float dist_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float vec[3], DualQuat *dq,
float mat[3][3], const float co[3])
{
Bone *bone = pchan->bone;
float fac, contrib = 0.0;
float cop[3], bbonemat[3][3];
DualQuat bbonedq;
if (bone == NULL)
return 0.0f;
copy_v3_v3(cop, co);
fac = distfactor_to_bone(cop, 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 (vec) {
if (bone->segments > 1)
/* applies on cop and bbonemat */
b_bone_deform(pdef_info, bone, cop, NULL, (mat) ? bbonemat : NULL);
else
mul_m4_v3(pchan->chan_mat, cop);
/* Make this a delta from the base position */
sub_v3_v3(cop, co);
madd_v3_v3fl(vec, cop, fac);
if (mat)
pchan_deform_mat_add(pchan, fac, bbonemat, mat);
}
else {
if (bone->segments > 1) {
b_bone_deform(pdef_info, bone, cop, &bbonedq, NULL);
add_weighted_dq_dq(dq, &bbonedq, fac);
}
else
add_weighted_dq_dq(dq, pdef_info->dual_quat, fac);
}
}
}
return contrib;
}
static void pchan_bone_deform(bPoseChannel *pchan, bPoseChanDeform *pdef_info, float weight, float vec[3], DualQuat *dq,
float mat[3][3], const float co[3], float *contrib)
{
float cop[3], bbonemat[3][3];
DualQuat bbonedq;
if (!weight)
return;
copy_v3_v3(cop, co);
if (vec) {
if (pchan->bone->segments > 1)
/* applies on cop and bbonemat */
b_bone_deform(pdef_info, pchan->bone, cop, NULL, (mat) ? bbonemat : NULL);
else
mul_m4_v3(pchan->chan_mat, cop);
vec[0] += (cop[0] - co[0]) * weight;
vec[1] += (cop[1] - co[1]) * weight;
vec[2] += (cop[2] - co[2]) * weight;
if (mat)
pchan_deform_mat_add(pchan, weight, bbonemat, mat);
}
else {
if (pchan->bone->segments > 1) {
b_bone_deform(pdef_info, pchan->bone, cop, &bbonedq, NULL);
add_weighted_dq_dq(dq, &bbonedq, weight);
}
else
add_weighted_dq_dq(dq, pdef_info->dual_quat, weight);
}
(*contrib) += weight;
}
typedef struct ArmatureBBoneDefmatsData {
bPoseChanDeform *pdef_info_array;
DualQuat *dualquats;
bool use_quaternion;
} ArmatureBBoneDefmatsData;
static void armature_bbone_defmats_cb(void *userdata, Link *iter, int index)
{
ArmatureBBoneDefmatsData *data = userdata;
bPoseChannel *pchan = (bPoseChannel *)iter;
if (!(pchan->bone->flag & BONE_NO_DEFORM)) {
bPoseChanDeform *pdef_info = &data->pdef_info_array[index];
const bool use_quaternion = data->use_quaternion;
if (pchan->bone->segments > 1) {
pchan_b_bone_defmats(pchan, pdef_info, use_quaternion);
}
if (use_quaternion) {
pdef_info->dual_quat = &data->dualquats[index];
mat4_to_dquat(pdef_info->dual_quat, pchan->bone->arm_mat, pchan->chan_mat);
}
}
}
void armature_deform_verts(Object *armOb, Object *target, DerivedMesh *dm, float (*vertexCos)[3],
float (*defMats)[3][3], int numVerts, int deformflag,
float (*prevCos)[3], const char *defgrp_name)
{
bPoseChanDeform *pdef_info_array;
bPoseChanDeform *pdef_info = NULL;
bArmature *arm = armOb->data;
bPoseChannel *pchan, **defnrToPC = NULL;
int *defnrToPCIndex = NULL;
MDeformVert *dverts = NULL;
bDeformGroup *dg;
DualQuat *dualquats = NULL;
float obinv[4][4], premat[4][4], postmat[4][4];
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;
int totchan;
/* in editmode, or not an armature */
if (arm->edbo || (armOb->pose == NULL)) {
return;
}
if ((armOb->pose->flag & POSE_RECALC) != 0) {
printf("ERROR! Trying to evaluate influence of armature '%s' which needs Pose recalc!", armOb->id.name);
BLI_assert(0);
}
invert_m4_m4(obinv, target->obmat);
copy_m4_m4(premat, target->obmat);
mul_m4_m4m4(postmat, obinv, armOb->obmat);
invert_m4_m4(premat, postmat);
/* bone defmats are already in the channels, chan_mat */
/* initialize B_bone matrices and dual quaternions */
totchan = BLI_listbase_count(&armOb->pose->chanbase);
if (use_quaternion) {
dualquats = MEM_callocN(sizeof(DualQuat) * totchan, "dualquats");
}
pdef_info_array = MEM_callocN(sizeof(bPoseChanDeform) * totchan, "bPoseChanDeform");
ArmatureBBoneDefmatsData data = {
.pdef_info_array = pdef_info_array, .dualquats = dualquats, .use_quaternion = use_quaternion
};
BLI_task_parallel_listbase(&armOb->pose->chanbase, &data, armature_bbone_defmats_cb, totchan > 512);
/* get the def_nr for the overall armature vertex group if present */
armature_def_nr = defgroup_name_index(target, defgrp_name);
if (ELEM(target->type, OB_MESH, OB_LATTICE)) {
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 {
Lattice *lt = target->data;
dverts = lt->dvert;
if (dverts)
target_totvert = lt->pntsu * lt->pntsv * lt->pntsw;
}
}
/* get a vertex-deform-index to posechannel array */
if (deformflag & ARM_DEF_VGROUP) {
if (ELEM(target->type, OB_MESH, OB_LATTICE)) {
/* if we have a DerivedMesh, only use dverts if it has them */
if (dm) {
use_dverts = (dm->getVertDataArray(dm, CD_MDEFORMVERT) != NULL);
}
else if (dverts) {
use_dverts = true;
}
if (use_dverts) {
defnrToPC = MEM_callocN(sizeof(*defnrToPC) * defbase_tot, "defnrToBone");
defnrToPCIndex = MEM_callocN(sizeof(*defnrToPCIndex) * defbase_tot, "defnrToIndex");
/* TODO(sergey): Some considerations here:
*
* - Make it more generic function, maybe even keep together with chanhash.
* - Check whether keeping this consistent across frames gives speedup.
* - Don't use hash for small armatures.
*/
GHash *idx_hash = BLI_ghash_ptr_new("pose channel index by name");
int pchan_index = 0;
for (pchan = armOb->pose->chanbase.first; pchan != NULL; pchan = pchan->next, ++pchan_index) {
BLI_ghash_insert(idx_hash, pchan, SET_INT_IN_POINTER(pchan_index));
}
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;
}
else {
defnrToPCIndex[i] = GET_INT_FROM_POINTER(BLI_ghash_lookup(idx_hash, defnrToPC[i]));
}
}
}
BLI_ghash_free(idx_hash, NULL, NULL);
}
}
}
for (i = 0; i < numVerts; i++) {
MDeformVert *dvert;
DualQuat sumdq, *dq = NULL;
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 (dm)
dvert = dm->getVertData(dm, i, CD_MDEFORMVERT);
else if (dverts && i < target_totvert)
dvert = dverts + i;
else
dvert = NULL;
}
else
dvert = NULL;
if (armature_def_nr != -1 && dvert) {
armature_weight = defvert_find_weight(dvert, armature_def_nr);
if (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)
continue;
/* get the coord we work on */
co = prevCos ? prevCos[i] : vertexCos[i];
/* Apply the object's matrix */
mul_m4_v3(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 int index = dw->def_nr;
if (index >= 0 && index < defbase_tot && (pchan = defnrToPC[index])) {
float weight = dw->weight;
Bone *bone = pchan->bone;
pdef_info = pdef_info_array + defnrToPCIndex[index];
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, pdef_info, weight, vec, dq, smat, co, &contrib);
}
}
/* if there are vertexgroups but not groups with bones
* (like for softbody groups) */
if (deformed == 0 && use_envelope) {
pdef_info = pdef_info_array;
for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) {
if (!(pchan->bone->flag & BONE_NO_DEFORM))
contrib += dist_bone_deform(pchan, pdef_info, vec, dq, smat, co);
}
}
}
else if (use_envelope) {
pdef_info = pdef_info_array;
for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) {
if (!(pchan->bone->flag & BONE_NO_DEFORM))
contrib += dist_bone_deform(pchan, pdef_info, 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, premat);
copy_m3_m4(post, 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(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];
}
}
if (dualquats)
MEM_freeN(dualquats);
if (defnrToPC)
MEM_freeN(defnrToPC);
if (defnrToPCIndex)
MEM_freeN(defnrToPCIndex);
/* free B_bone matrices */
pdef_info = pdef_info_array;
for (pchan = armOb->pose->chanbase.first; pchan; pchan = pchan->next, pdef_info++) {
if (pdef_info->b_bone_mats)
MEM_freeN(pdef_info->b_bone_mats);
if (pdef_info->b_bone_dual_quats)
MEM_freeN(pdef_info->b_bone_dual_quats);
}
MEM_freeN(pdef_info_array);
}
/* ************ 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).
* Not exported, as it is only used in this file currently... */
static void get_offset_bone_mat(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_pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[4][4], float loc_mat[4][4])
{
Bone *bone, *parbone;
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). */
get_offset_bone_mat(bone, offs_bone);
/* Compose the rotscale matrix for this bone. */
if ((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) {
/* Parent rest rotation and scale. */
mul_m4_m4m4(rotscale_mat, parbone->arm_mat, offs_bone);
}
else if (bone->flag & BONE_HINGE) {
/* Parent rest rotation and pose scale. */
float tmat[4][4], tscale[3];
/* Extract the scale of the parent pose matrix. */
mat4_to_size(tscale, parchan->pose_mat);
size_to_mat4(tmat, tscale);
/* Applies the parent pose scale to the rest matrix. */
mul_m4_m4m4(tmat, tmat, parbone->arm_mat);
mul_m4_m4m4(rotscale_mat, tmat, offs_bone);
}
else if (bone->flag & BONE_NO_SCALE) {
/* Parent pose rotation and rest scale (i.e. no scaling). */
float tmat[4][4];
copy_m4_m4(tmat, parchan->pose_mat);
normalize_m4(tmat);
mul_m4_m4m4(rotscale_mat, tmat, offs_bone);
}
else
mul_m4_m4m4(rotscale_mat, parchan->pose_mat, offs_bone);
/* 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(loc_mat);
unit_m4(tmat4);
mul_v3_m4v3(bone_loc[3], parchan->pose_mat, offs_bone[3]);
unit_m3(bone_rotscale);
copy_m3_m4(tmat3, parchan->pose_mat);
mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale);
copy_m4_m3(tmat4, bone_rotscale);
mul_m4_m4m4(loc_mat, bone_loc, tmat4);
}
/* Those flags do not affect position, use plain parent transform space! */
else if (bone->flag & (BONE_HINGE | BONE_NO_SCALE)) {
mul_m4_m4m4(loc_mat, parchan->pose_mat, offs_bone);
}
/* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */
else
copy_m4_m4(loc_mat, rotscale_mat);
}
/* Root bones. */
else {
/* Rotation/scaling. */
copy_m4_m4(rotscale_mat, pchan->bone->arm_mat);
/* Translation. */
if (pchan->bone->flag & BONE_NO_LOCAL_LOCATION) {
/* Translation of arm_mat, without the rotation. */
unit_m4(loc_mat);
copy_v3_v3(loc_mat[3], pchan->bone->arm_mat[3]);
}
else
copy_m4_m4(loc_mat, rotscale_mat);
}
}
/* 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])
{
float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4];
/* Security, this allows to call with inmat == outmat! */
copy_m4_m4(inmat_, inmat);
BKE_pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
invert_m4(rotscale_mat);
invert_m4(loc_mat);
mul_m4_m4m4(outmat, rotscale_mat, inmat_);
mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);
}
/* 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])
{
float rotscale_mat[4][4], loc_mat[4][4], inmat_[4][4];
/* Security, this allows to call with inmat == outmat! */
copy_m4_m4(inmat_, inmat);
BKE_pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
mul_m4_m4m4(outmat, rotscale_mat, inmat_);
mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);
}
/* 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(const struct EvaluationContext *eval_ctx, 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(eval_ctx, 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 whats
* 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;
}
}
/* 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(float mat[3][3], float r_vec[3], float *r_roll)
{
if (r_vec) {
copy_v3_v3(r_vec, mat[1]);
}
if (r_roll) {
float vecmat[3][3], vecmatinv[3][3], rollmat[3][3];
vec_roll_to_mat3(mat[1], 0.0f, vecmat);
invert_m3_m3(vecmatinv, vecmat);
mul_m3_m3m3(rollmat, vecmatinv, mat);
*r_roll = atan2f(rollmat[2][0], rollmat[2][2]);
}
}
/* 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):
* ┌ (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) ┘
*
* 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:
* ┌ 1 - x^2 / (1 + y), x, -x * z / (1 + y) ┐
* M = │ -x, y, -z │
* └ -x * z / (1 + y), z, 1 - z^2 / (1 + y) ┘
*
* 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:
* ┌ 1 + y - x^2, -x * z ┐
* M* = 1 / (1 + y) * │ │
* └ -x * z, 1 + y - z^2 ┘
*
* 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:
* ┌ z^2 - x^2, -2 * x * z ┐
* M* = 1 / (x^2 + z^2) * │ │
* └ -2 * x * z, x^2 - z^2 ┘
*/
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 restposition of entire tree of children */
/* used by exiting editmode too */
void BKE_armature_where_is_bone(Bone *bone, Bone *prevbone, 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 (prevbone) {
float offs_bone[4][4];
/* yoffs(b-1) + root(b) + bonemat(b) */
get_offset_bone_mat(bone, offs_bone);
/* Compose the matrix for this bone */
mul_m4_m4m4(bone->arm_mat, prevbone->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) {
prevbone = bone;
for (bone = bone->childbase.first; bone; bone = bone->next) {
BKE_armature_where_is_bone(bone, prevbone, 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_synchronize(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) {
printf("failed to sync proxy armature because '%s' is missing pose channel '%s'\n",
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.mpath = pchan->mpath;
pchan->mpath = NULL;
/* 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);
MEM_freeN(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)
{
for (bPoseChannel *pchan = pose->chanbase.first; pchan; pchan = pchan->next) {
pchan->bone = NULL;
pchan->child = NULL;
}
}
/* only after leave editmode, duplicating, validating older files, library syncing */
/* NOTE: pose->flag is set for it */
void BKE_pose_rebuild(Object *ob, bArmature *arm)
{
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(pchan);
BKE_pose_channels_hash_free(pose);
BLI_freelinkN(&pose->chanbase, pchan);
}
}
/* printf("rebuild pose %s, %d bones\n", ob->id.name, counter); */
/* synchronize protected layers with proxy */
if (ob->proxy) {
BKE_object_copy_proxy_drivers(ob, ob->proxy);
pose_proxy_synchronize(ob, ob->proxy, arm->layer_protected);
}
BKE_pose_update_constraint_flags(ob->pose); /* for IK detection for example */
ob->pose->flag &= ~POSE_RECALC;
ob->pose->flag |= POSE_WAS_REBUILT;
BKE_pose_channels_hash_make(ob->pose);
}
/* ********************** THE POSE SOLVER ******************* */
/* loc/rot/size to given mat4 */
void BKE_pchan_to_mat4(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);
/* 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(rmat, 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(rmat, 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(rmat, quat);
}
/* 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);
}
#if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */
/* NLA strip modifiers */
static void do_strip_modifiers(Scene *scene, Object *armob, Bone *bone, bPoseChannel *pchan)
{
bActionModifier *amod;
bActionStrip *strip, *strip2;
float scene_cfra = BKE_scene_frame_get(scene);
int do_modif;
for (strip = armob->nlastrips.first; strip; strip = strip->next) {
do_modif = false;
if (scene_cfra >= strip->start && scene_cfra <= strip->end)
do_modif = true;
if ((scene_cfra > strip->end) && (strip->flag & ACTSTRIP_HOLDLASTFRAME)) {
do_modif = true;
/* if there are any other strips active, ignore modifiers for this strip -
* 'hold' option should only hold action modifiers if there are
* no other active strips */
for (strip2 = strip->next; strip2; strip2 = strip2->next) {
if (strip2 == strip) continue;
if (scene_cfra >= strip2->start && scene_cfra <= strip2->end) {
if (!(strip2->flag & ACTSTRIP_MUTE))
do_modif = false;
}
}
/* if there are any later, activated, strips with 'hold' set, they take precedence,
* so ignore modifiers for this strip */
for (strip2 = strip->next; strip2; strip2 = strip2->next) {
if (scene_cfra < strip2->start) continue;
if ((strip2->flag & ACTSTRIP_HOLDLASTFRAME) && !(strip2->flag & ACTSTRIP_MUTE)) {
do_modif = false;
}
}
}
if (do_modif) {
/* temporal solution to prevent 2 strips accumulating */
if (scene_cfra == strip->end && strip->next && strip->next->start == scene_cfra)
continue;
for (amod = strip->modifiers.first; amod; amod = amod->next) {
switch (amod->type) {
case ACTSTRIP_MOD_DEFORM:
{
/* validate first */
if (amod->ob && amod->ob->type == OB_CURVE && amod->channel[0]) {
if (STREQ(pchan->name, amod->channel)) {
float mat4[4][4], mat3[3][3];
curve_deform_vector(amod->ob, armob, bone->arm_mat[3], pchan->pose_mat[3], mat3, amod->no_rot_axis);
copy_m4_m4(mat4, pchan->pose_mat);
mul_m4_m3m4(pchan->pose_mat, mat3, mat4);
}
}
}
break;
case ACTSTRIP_MOD_NOISE:
{
if (STREQ(pchan->name, amod->channel)) {
float nor[3], loc[3], ofs;
float eul[3], size[3], eulo[3], sizeo[3];
/* calculate turbulance */
ofs = amod->turbul / 200.0f;
/* make a copy of starting conditions */
copy_v3_v3(loc, pchan->pose_mat[3]);
mat4_to_eul(eul, pchan->pose_mat);
mat4_to_size(size, pchan->pose_mat);
copy_v3_v3(eulo, eul);
copy_v3_v3(sizeo, size);
/* apply noise to each set of channels */
if (amod->channels & 4) {
/* for scaling */
nor[0] = BLI_gNoise(amod->noisesize, size[0] + ofs, size[1], size[2], 0, 0) - ofs;
nor[1] = BLI_gNoise(amod->noisesize, size[0], size[1] + ofs, size[2], 0, 0) - ofs;
nor[2] = BLI_gNoise(amod->noisesize, size[0], size[1], size[2] + ofs, 0, 0) - ofs;
add_v3_v3(size, nor);
if (sizeo[0] != 0)
mul_v3_fl(pchan->pose_mat[0], size[0] / sizeo[0]);
if (sizeo[1] != 0)
mul_v3_fl(pchan->pose_mat[1], size[1] / sizeo[1]);
if (sizeo[2] != 0)
mul_v3_fl(pchan->pose_mat[2], size[2] / sizeo[2]);
}
if (amod->channels & 2) {
/* for rotation */
nor[0] = BLI_gNoise(amod->noisesize, eul[0] + ofs, eul[1], eul[2], 0, 0) - ofs;
nor[1] = BLI_gNoise(amod->noisesize, eul[0], eul[1] + ofs, eul[2], 0, 0) - ofs;
nor[2] = BLI_gNoise(amod->noisesize, eul[0], eul[1], eul[2] + ofs, 0, 0) - ofs;
compatible_eul(nor, eulo);
add_v3_v3(eul, nor);
compatible_eul(eul, eulo);
loc_eul_size_to_mat4(pchan->pose_mat, loc, eul, size);
}
if (amod->channels & 1) {
/* for location */
nor[0] = BLI_gNoise(amod->noisesize, loc[0] + ofs, loc[1], loc[2], 0, 0) - ofs;
nor[1] = BLI_gNoise(amod->noisesize, loc[0], loc[1] + ofs, loc[2], 0, 0) - ofs;
nor[2] = BLI_gNoise(amod->noisesize, loc[0], loc[1], loc[2] + ofs, 0, 0) - ofs;
add_v3_v3v3(pchan->pose_mat[3], loc, nor);
}
}
}
break;
}
}
}
}
}
#endif
/* 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(
const struct EvaluationContext *eval_ctx, 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) {
#if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */
/* do NLA strip modifiers - i.e. curve follow */
do_strip_modifiers(scene, ob, bone, pchan);
#endif
/* 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(scene, ob, pchan, CONSTRAINT_OBTYPE_BONE);
/* Solve PoseChannel's Constraints */
BKE_constraints_solve(eval_ctx, &pchan->constraints, cob, ctime); /* ctime doesnt alter objects */
/* 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(const struct EvaluationContext *eval_ctx, 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))
BKE_pose_rebuild(ob, arm);
ctime = BKE_scene_frame_get(scene); /* not accurate... */
/* In editmode or restposition 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(eval_ctx, 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(eval_ctx, 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(eval_ctx, scene, ob, pchan, ctime);
}
/* 5. otherwise just call the normal solver */
else if (!(pchan->flag & POSE_DONE)) {
BKE_pose_where_is_bone(eval_ctx, 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->bb == NULL) {
ob->bb = MEM_callocN(sizeof(BoundBox), "Armature boundbox");
}
bb = ob->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->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;
}
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