e8aaea0b63
* Armatures that had constraint targets inside other armatures weren't transform()-ing correctly * Issues with lattice deformed objects that are parents of bones when rendering an animation. Seems to be mostly OK now with the exception of the first rendered frame -- weird bugs like this have plagued blender for ages, which leads me to believe that RE_rotateBlenderScene() is a piece of garbage that nobody understands (especially me). * made a few helper functions to clean up some repeated code related to clearing constraint status and rebuilding displists.
1392 lines
32 KiB
C
1392 lines
32 KiB
C
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#include <stdio.h>
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#include <string.h>
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#include <math.h>
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#include "MEM_guardedalloc.h"
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#include "nla.h"
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#include "BLI_blenlib.h"
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#include "BLI_arithb.h"
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#include "DNA_armature_types.h"
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#include "DNA_constraint_types.h"
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#include "DNA_object_types.h"
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#include "DNA_action_types.h"
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#include "DNA_curve_types.h"
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#include "DNA_scene_types.h"
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#include "BKE_utildefines.h"
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#include "BKE_action.h"
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#include "BKE_anim.h" // for the curve calculation part
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#include "BKE_armature.h"
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#include "BKE_blender.h"
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#include "BKE_constraint.h"
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#include "BKE_object.h"
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#include "BKE_ipo.h"
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#include "BKE_global.h"
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#include "BKE_library.h"
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#include "blendef.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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/* Local function prototypes */
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static void constraint_target_to_mat4 (Object *ob, const char *substring, float mat[][4], float size[3], float ctime);
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/* Functions */
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char constraint_has_target (bConstraint *con) {
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switch (con->type){
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case CONSTRAINT_TYPE_TRACKTO:
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{
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bTrackToConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_KINEMATIC:
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{
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bKinematicConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_FOLLOWPATH:
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{
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bFollowPathConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_ROTLIKE:
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{
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bRotateLikeConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_LOCLIKE:
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{
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bLocateLikeConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_ACTION:
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{
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bActionConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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case CONSTRAINT_TYPE_LOCKTRACK:
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{
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bLockTrackConstraint *data = con->data;
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if (data->tar)
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return 1;
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}
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break;
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}
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// Unknown types or CONSTRAINT_TYPE_NULL or no target
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return 0;
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}
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void unique_constraint_name (bConstraint *con, ListBase *list){
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char tempname[64];
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int number;
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char *dot;
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int exists = 0;
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bConstraint *curcon;
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/* See if we even need to do this */
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for (curcon = list->first; curcon; curcon=curcon->next){
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if (curcon!=con){
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if (!strcmp(curcon->name, con->name)){
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exists = 1;
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break;
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}
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}
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}
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if (!exists)
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return;
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/* Strip off the suffix */
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dot=strchr(con->name, '.');
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if (dot)
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*dot=0;
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for (number = 1; number <=999; number++){
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sprintf (tempname, "%s.%03d", con->name, number);
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exists = 0;
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for (curcon=list->first; curcon; curcon=curcon->next){
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if (con!=curcon){
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if (!strcmp (curcon->name, tempname)){
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exists = 1;
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break;
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}
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}
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}
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if (!exists){
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strcpy (con->name, tempname);
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return;
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}
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}
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}
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void *new_constraint_data (short type)
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{
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void *result;
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switch (type){
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case CONSTRAINT_TYPE_KINEMATIC:
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{
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bKinematicConstraint *data;
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data = MEM_callocN(sizeof(bKinematicConstraint), "kinematicConstraint");
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data->tolerance = (float)0.001;
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data->iterations = 500;
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_NULL:
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{
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result = NULL;
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}
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break;
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case CONSTRAINT_TYPE_TRACKTO:
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{
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bTrackToConstraint *data;
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data = MEM_callocN(sizeof(bTrackToConstraint), "tracktoConstraint");
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data->reserved1 = TRACK_Y;
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data->reserved2 = UP_Z;
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_ROTLIKE:
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{
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bRotateLikeConstraint *data;
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data = MEM_callocN(sizeof(bRotateLikeConstraint), "rotlikeConstraint");
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_LOCLIKE:
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{
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bLocateLikeConstraint *data;
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data = MEM_callocN(sizeof(bLocateLikeConstraint), "loclikeConstraint");
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data->flag |= LOCLIKE_X|LOCLIKE_Y|LOCLIKE_Z;
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_ACTION:
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{
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bActionConstraint *data;
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data = MEM_callocN(sizeof(bActionConstraint), "actionConstraint");
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_LOCKTRACK:
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{
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bLockTrackConstraint *data;
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data = MEM_callocN(sizeof(bLockTrackConstraint), "locktrackConstraint");
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data->trackflag = TRACK_Y;
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data->lockflag = LOCK_Z;
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result = data;
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}
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break;
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case CONSTRAINT_TYPE_FOLLOWPATH:
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{
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bFollowPathConstraint *data;
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data = MEM_callocN(sizeof(bFollowPathConstraint), "followpathConstraint");
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data->trackflag = TRACK_Y;
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data->upflag = UP_Z;
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data->offset = 0;
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data->followflag = 0;
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result = data;
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}
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break;
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default:
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result = NULL;
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break;
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}
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return result;
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}
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bConstraintChannel *find_constraint_channel (ListBase *list, const char *name){
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bConstraintChannel *chan;
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for (chan = list->first; chan; chan=chan->next){
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if (!strcmp(name, chan->name)){
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return chan;
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}
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}
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return NULL;
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}
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void do_constraint_channels (ListBase *conbase, ListBase *chanbase, float ctime)
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{
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bConstraint *con;
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bConstraintChannel *chan;
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IpoCurve *icu;
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for (con=conbase->first; con; con=con->next){
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chan = find_constraint_channel(chanbase, con->name);
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if (chan && chan->ipo){
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calc_ipo(chan->ipo, ctime);
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for (icu=chan->ipo->curve.first; icu; icu=icu->next){
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switch (icu->adrcode){
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case CO_ENFORCE:
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con->enforce = icu->curval;
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if (con->enforce<0) con->enforce=0;
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else if (con->enforce>1) con->enforce=1;
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break;
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}
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}
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}
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}
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}
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void Mat4BlendMat4(float out[][4], float dst[][4], float src[][4], float srcweight)
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{
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float squat[4], dquat[4], fquat[4];
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float ssize[3], dsize[3], fsize[4];
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float sloc[3], dloc[3], floc[3];
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float mat3[3][3], dstweight;
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float qmat[3][3], smat[3][3];
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int i;
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dstweight = 1.0F-srcweight;
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Mat3CpyMat4(mat3, dst);
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Mat3ToQuat(mat3, dquat);
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Mat3ToSize(mat3, dsize);
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VECCOPY (dloc, dst[3]);
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Mat3CpyMat4(mat3, src);
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Mat3ToQuat(mat3, squat);
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Mat3ToSize(mat3, ssize);
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VECCOPY (sloc, src[3]);
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/* Do the actual blend */
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for (i=0; i<3; i++){
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floc[i] = (dloc[i]*dstweight) + (sloc[i]*srcweight);
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fsize[i] = 1.0f + ((dsize[i]-1.0f)*dstweight) + ((ssize[i]-1.0f)*srcweight);
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fquat[i+1] = (dquat[i+1]*dstweight) + (squat[i+1]*srcweight);
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}
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/* Do one more iteration for the quaternions only and normalize the quaternion if needed */
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fquat[0] = 1.0f + ((dquat[0]-1.0f)*dstweight) + ((squat[0]-1.0f)*srcweight);
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NormalQuat (fquat);
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QuatToMat3(fquat, qmat);
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SizeToMat3(fsize, smat);
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Mat3MulMat3(mat3, qmat, smat);
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Mat4CpyMat3(out, mat3);
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VECCOPY (out[3], floc);
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}
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static void constraint_target_to_mat4 (Object *ob, const char *substring, float mat[][4], float size[3], float ctime)
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{
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|
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/* Update the location of the target object */
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//where_is_object_time (ob, ctime);
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|
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/* Case OBJECT */
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if (!strlen(substring)){
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Mat4CpyMat4 (mat, ob->obmat);
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VECCOPY (size, ob->size);
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return;
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}
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|
|
/* Case BONE */
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else {
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bArmature *arm;
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Bone *bone;
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float bmat[4][4];
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float bsize[3]={1, 1, 1};
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arm = get_armature(ob);
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|
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/**
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* Locate the bone (if there is one)
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* Ensures that the bone's transformation is fully constrained
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* (Cyclical relationships are disallowed elsewhere)
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*/
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bone = get_named_bone(arm, substring);
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if (bone){
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where_is_bone_time(ob, bone, ctime);
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get_objectspace_bone_matrix(bone, bmat, 1, 1);
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VECCOPY(bsize, bone->size);
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}
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else
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Mat4One (bmat);
|
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|
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/**
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* Multiply the objectspace bonematrix by the skeletons's global
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* transform to obtain the worldspace transformation of the target
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*/
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VECCOPY(size, bsize);
|
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Mat4MulMat4 (mat, bmat, ob->obmat);
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|
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return;
|
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}
|
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}
|
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|
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void clear_object_constraint_status (Object *ob)
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{
|
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bConstraint *con;
|
|
|
|
if (!ob) return;
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|
|
/* Clear the object's constraints */
|
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for (con = ob->constraints.first; con; con=con->next){
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con->flag &= ~CONSTRAINT_DONE;
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}
|
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|
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/* Clear the object's subdata constraints */
|
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switch (ob->type){
|
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case OB_ARMATURE:
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{
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clear_pose_constraint_status (ob);
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|
}
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break;
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default:
|
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break;
|
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}
|
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}
|
|
|
|
void clear_all_constraints(void)
|
|
{
|
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Base *base;
|
|
|
|
/* Clear the constraint "done" flags -- this must be done
|
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* before displists are calculated for objects that are
|
|
* deformed by armatures */
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for (base = G.scene->base.first; base; base=base->next){
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clear_object_constraint_status(base->object);
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}
|
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}
|
|
|
|
void rebuild_all_armature_displists(void) {
|
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Base *base;
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|
|
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for (base = G.scene->base.first; base; base=base->next){
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clear_object_constraint_status(base->object);
|
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make_displists_by_armature(base->object);
|
|
}
|
|
}
|
|
|
|
short get_constraint_target (bConstraint *con, short ownertype, void* ownerdata, float mat[][4], float size[3], float ctime)
|
|
{
|
|
short valid=0;
|
|
|
|
switch (con->type){
|
|
case CONSTRAINT_TYPE_NULL:
|
|
{
|
|
Mat4One(mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ACTION:
|
|
{
|
|
if (ownertype == TARGET_BONE){
|
|
bActionConstraint *data = (bActionConstraint*)con->data;
|
|
bPose *pose=NULL;
|
|
bPoseChannel *pchan=NULL;
|
|
float tempmat[4][4], imat[4][4], ans[4][4], restmat[4][4], irestmat[4][4];
|
|
float tempmat3[3][3];
|
|
float eul[3], size[3];
|
|
float s,t;
|
|
Bone *curBone;
|
|
Bone tbone;
|
|
int i;
|
|
|
|
curBone = (Bone*)ownerdata;
|
|
|
|
if (data->tar){
|
|
/* Update the location of the target object */
|
|
where_is_object_time (data->tar, ctime);
|
|
constraint_target_to_mat4(data->tar, data->subtarget, tempmat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (tempmat);
|
|
|
|
/* If this is a bone, undo parent transforms */
|
|
if (strlen(data->subtarget)){
|
|
Bone* bone;
|
|
|
|
Mat4Invert(imat, data->tar->obmat);
|
|
bone = get_named_bone(get_armature(data->tar), data->subtarget);
|
|
if (bone){
|
|
get_objectspace_bone_matrix(bone, restmat, 1, 0);
|
|
Mat4Invert(irestmat, restmat);
|
|
}
|
|
}
|
|
else{
|
|
Mat4One(imat);
|
|
Mat4One(irestmat);
|
|
}
|
|
|
|
Mat4MulSerie(ans, imat, tempmat, irestmat, NULL, NULL, NULL, NULL, NULL);
|
|
|
|
Mat3CpyMat4(tempmat3, ans);
|
|
Mat3ToEul(tempmat3, eul);
|
|
|
|
eul[0]*=(float)(180.0/M_PI);
|
|
eul[1]*=(float)(180.0/M_PI);
|
|
eul[2]*=(float)(180.0/M_PI);
|
|
|
|
/* Target is the animation */
|
|
s = (eul[data->type]-data->min)/(data->max-data->min);
|
|
if (s<0)
|
|
s=0;
|
|
if (s>1)
|
|
s=1;
|
|
|
|
t = ( s * (data->end-data->start)) + data->start;
|
|
|
|
/* Get the appropriate information from the action */
|
|
pose = MEM_callocN(sizeof(bPose), "pose");
|
|
|
|
verify_pose_channel(pose, curBone->name);
|
|
get_pose_from_action (&pose, data->act, t);
|
|
|
|
/* Find the appropriate channel */
|
|
pchan = get_pose_channel(pose, curBone->name);
|
|
if (pchan){
|
|
memset(&tbone, 0x00, sizeof(Bone));
|
|
|
|
VECCOPY (tbone.loc, pchan->loc);
|
|
VECCOPY (tbone.size, pchan->size);
|
|
for (i=0; i<4; i++)
|
|
tbone.quat[i]=pchan->quat[i];
|
|
|
|
bone_to_mat4(&tbone, mat);
|
|
|
|
}
|
|
else{
|
|
Mat4One(mat);
|
|
}
|
|
/* Clean up */
|
|
clear_pose(pose);
|
|
MEM_freeN(pose);
|
|
}
|
|
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCLIKE:
|
|
{
|
|
bLocateLikeConstraint *data = (bLocateLikeConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
/* Update the location of the target object */
|
|
where_is_object_time (data->tar, ctime);
|
|
constraint_target_to_mat4(data->tar, data->subtarget, mat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ROTLIKE:
|
|
{
|
|
bRotateLikeConstraint *data;
|
|
data = (bRotateLikeConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
/* Update the location of the target object */
|
|
where_is_object_time (data->tar, ctime);
|
|
constraint_target_to_mat4(data->tar, data->subtarget, mat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_TRACKTO:
|
|
{
|
|
bTrackToConstraint *data;
|
|
data = (bTrackToConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
// Refresh the object if it isn't a constraint loop
|
|
if (!(con->flag & CONSTRAINT_NOREFRESH))
|
|
where_is_object_time (data->tar, ctime);
|
|
constraint_target_to_mat4(data->tar, data->subtarget, mat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_KINEMATIC:
|
|
{
|
|
bTrackToConstraint *data;
|
|
data = (bTrackToConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
/* Update the location of the target object */
|
|
where_is_object_time (data->tar, ctime);
|
|
constraint_target_to_mat4(data->tar, data->subtarget, mat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCKTRACK:
|
|
{
|
|
bLockTrackConstraint *data;
|
|
data = (bLockTrackConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
// Refresh the object if it isn't a constraint loop
|
|
if (!(con->flag & CONSTRAINT_NOREFRESH))
|
|
where_is_object_time (data->tar, ctime);
|
|
|
|
constraint_target_to_mat4(data->tar, data->subtarget, mat, size, ctime);
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_FOLLOWPATH:
|
|
{
|
|
bFollowPathConstraint *data;
|
|
data = (bFollowPathConstraint*)con->data;
|
|
|
|
if (data->tar){
|
|
short OldFlag;
|
|
Curve *cu;
|
|
float q[4], vec[4], dir[3], *quat, x1, totmat[4][4];
|
|
float curvetime;
|
|
|
|
where_is_object_time (data->tar, ctime);
|
|
|
|
Mat4One (totmat);
|
|
|
|
cu= data->tar->data;
|
|
OldFlag = cu->flag;
|
|
|
|
if(data->followflag) {
|
|
if(!(cu->flag & CU_FOLLOW)) cu->flag += CU_FOLLOW;
|
|
}
|
|
else {
|
|
if(cu->flag & CU_FOLLOW) cu->flag -= CU_FOLLOW;
|
|
}
|
|
|
|
if(!(cu->flag & CU_PATH)) cu->flag += CU_PATH;
|
|
|
|
if(cu->path==0 || cu->path->data==0) calc_curvepath(data->tar);
|
|
|
|
curvetime = ctime - data->offset;
|
|
|
|
if(calc_ipo_spec(cu->ipo, CU_SPEED, &curvetime)==0) {
|
|
curvetime /= cu->pathlen;
|
|
CLAMP(curvetime, 0.0, 1.0);
|
|
}
|
|
|
|
if(where_on_path(data->tar, curvetime, vec, dir) ) {
|
|
|
|
if(data->followflag){
|
|
quat= vectoquat(dir, (short) data->trackflag, (short) data->upflag);
|
|
|
|
Normalise(dir);
|
|
q[0]= (float)cos(0.5*vec[3]);
|
|
x1= (float)sin(0.5*vec[3]);
|
|
q[1]= -x1*dir[0];
|
|
q[2]= -x1*dir[1];
|
|
q[3]= -x1*dir[2];
|
|
QuatMul(quat, q, quat);
|
|
|
|
|
|
QuatToMat4(quat, totmat);
|
|
}
|
|
VECCOPY(totmat[3], vec);
|
|
|
|
Mat4MulSerie(mat, data->tar->obmat, totmat, NULL, NULL, NULL, NULL, NULL, NULL);
|
|
}
|
|
|
|
cu->flag = OldFlag;
|
|
valid=1;
|
|
}
|
|
else
|
|
Mat4One (mat);
|
|
}
|
|
break;
|
|
default:
|
|
Mat4One(mat);
|
|
break;
|
|
}
|
|
|
|
return valid;
|
|
}
|
|
|
|
void relink_constraints (struct ListBase *list)
|
|
{
|
|
bConstraint *con;
|
|
|
|
for (con = list->first; con; con=con->next){
|
|
switch (con->type){
|
|
case CONSTRAINT_TYPE_KINEMATIC:
|
|
{
|
|
bKinematicConstraint *data;
|
|
data = con->data;
|
|
|
|
ID_NEW(data->tar);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_NULL:
|
|
{
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_TRACKTO:
|
|
{
|
|
bTrackToConstraint *data;
|
|
data = con->data;
|
|
|
|
ID_NEW(data->tar);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ACTION:
|
|
{
|
|
bActionConstraint *data;
|
|
data = con->data;
|
|
|
|
ID_NEW(data->tar);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCLIKE:
|
|
{
|
|
bLocateLikeConstraint *data;
|
|
data = con->data;
|
|
|
|
ID_NEW(data->tar);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ROTLIKE:
|
|
{
|
|
bRotateLikeConstraint *data;
|
|
data = con->data;
|
|
|
|
ID_NEW(data->tar);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void *copy_constraint_channels (ListBase *dst, ListBase *src)
|
|
{
|
|
bConstraintChannel *dchan, *schan;
|
|
bConstraintChannel *newact=NULL;
|
|
|
|
dst->first=dst->last=NULL;
|
|
duplicatelist(dst, src);
|
|
|
|
for (dchan=dst->first, schan=src->first; dchan; dchan=dchan->next, schan=schan->next){
|
|
dchan->ipo = copy_ipo(schan->ipo);
|
|
}
|
|
|
|
return newact;
|
|
}
|
|
|
|
bConstraintChannel *clone_constraint_channels (ListBase *dst, ListBase *src, bConstraintChannel *oldact)
|
|
{
|
|
bConstraintChannel *dchan, *schan;
|
|
bConstraintChannel *newact=NULL;
|
|
|
|
dst->first=dst->last=NULL;
|
|
duplicatelist(dst, src);
|
|
|
|
for (dchan=dst->first, schan=src->first; dchan; dchan=dchan->next, schan=schan->next){
|
|
id_us_plus((ID *)dchan->ipo);
|
|
if (schan==oldact)
|
|
newact=dchan;
|
|
}
|
|
|
|
return newact;
|
|
}
|
|
|
|
void copy_constraints (ListBase *dst, ListBase *src)
|
|
{
|
|
bConstraint *con;
|
|
|
|
dst->first=dst->last=NULL;
|
|
|
|
duplicatelist (dst, src);
|
|
|
|
/* Update specific data */
|
|
if (!dst->first)
|
|
return;
|
|
|
|
for (con = dst->first; con; con=con->next){
|
|
switch (con->type){
|
|
case CONSTRAINT_TYPE_ACTION:
|
|
{
|
|
bActionConstraint *data;
|
|
|
|
con->data = MEM_dupallocN (con->data);
|
|
data = (bActionConstraint*) con->data;
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCLIKE:
|
|
{
|
|
bLocateLikeConstraint *data;
|
|
|
|
con->data = MEM_dupallocN (con->data);
|
|
data = (bLocateLikeConstraint*) con->data;
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ROTLIKE:
|
|
{
|
|
bRotateLikeConstraint *data;
|
|
|
|
con->data = MEM_dupallocN (con->data);
|
|
data = (bRotateLikeConstraint*) con->data;
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_NULL:
|
|
{
|
|
con->data = NULL;
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_TRACKTO:
|
|
{
|
|
bTrackToConstraint *data;
|
|
|
|
con->data = MEM_dupallocN (con->data);
|
|
data = (bTrackToConstraint*) con->data;
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_KINEMATIC:
|
|
{
|
|
bKinematicConstraint *data;
|
|
|
|
con->data = MEM_dupallocN (con->data);
|
|
data = (bKinematicConstraint*) con->data;
|
|
}
|
|
break;
|
|
default:
|
|
con->data = MEM_dupallocN (con->data);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void evaluate_constraint (bConstraint *constraint, Object *ob, short ownertype, void *ownerdata, float targetmat[][4])
|
|
/* ob is likely to be a workob */
|
|
{
|
|
float M_oldmat[4][4];
|
|
float M_identity[4][4];
|
|
|
|
if (!constraint || !ob)
|
|
return;
|
|
|
|
Mat4One (M_identity);
|
|
|
|
/* We've already been calculated */
|
|
if (constraint->flag & CONSTRAINT_DONE){
|
|
return;
|
|
}
|
|
|
|
switch (constraint->type){
|
|
case CONSTRAINT_TYPE_ACTION:
|
|
{
|
|
float temp[4][4];
|
|
bActionConstraint *data;
|
|
|
|
data = constraint->data;
|
|
Mat4CpyMat4 (temp, ob->obmat);
|
|
|
|
Mat4MulMat4(ob->obmat, targetmat, temp);
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCLIKE:
|
|
{
|
|
bLocateLikeConstraint *data;
|
|
|
|
data = constraint->data;
|
|
|
|
if (data->flag & LOCLIKE_X)
|
|
ob->obmat[3][0] = targetmat[3][0];
|
|
if (data->flag & LOCLIKE_Y)
|
|
ob->obmat[3][1] = targetmat[3][1];
|
|
if (data->flag & LOCLIKE_Z)
|
|
ob->obmat[3][2] = targetmat[3][2];
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_ROTLIKE:
|
|
{
|
|
float tmat[4][4];
|
|
float size[3];
|
|
|
|
Mat4ToSize(ob->obmat, size);
|
|
|
|
Mat4CpyMat4 (tmat, targetmat);
|
|
Mat4Ortho(tmat);
|
|
|
|
ob->obmat[0][0] = tmat[0][0]*size[0];
|
|
ob->obmat[0][1] = tmat[0][1]*size[1];
|
|
ob->obmat[0][2] = tmat[0][2]*size[2];
|
|
|
|
ob->obmat[1][0] = tmat[1][0]*size[0];
|
|
ob->obmat[1][1] = tmat[1][1]*size[1];
|
|
ob->obmat[1][2] = tmat[1][2]*size[2];
|
|
|
|
ob->obmat[2][0] = tmat[2][0]*size[0];
|
|
ob->obmat[2][1] = tmat[2][1]*size[1];
|
|
ob->obmat[2][2] = tmat[2][2]*size[2];
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_NULL:
|
|
{
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_TRACKTO:
|
|
{
|
|
bTrackToConstraint *data;
|
|
float size[3];
|
|
float *quat;
|
|
float vec[3];
|
|
float totmat[3][3];
|
|
float tmat[4][4];
|
|
|
|
data=(bTrackToConstraint*)constraint->data;
|
|
|
|
if (data->tar){
|
|
|
|
Mat4ToSize (ob->obmat, size);
|
|
|
|
Mat4CpyMat4 (M_oldmat, ob->obmat);
|
|
|
|
// Clear the object's rotation
|
|
ob->obmat[0][0]=ob->size[0];
|
|
ob->obmat[0][1]=0;
|
|
ob->obmat[0][2]=0;
|
|
ob->obmat[1][0]=0;
|
|
ob->obmat[1][1]=ob->size[1];
|
|
ob->obmat[1][2]=0;
|
|
ob->obmat[2][0]=0;
|
|
ob->obmat[2][1]=0;
|
|
ob->obmat[2][2]=ob->size[2];
|
|
|
|
|
|
VecSubf(vec, ob->obmat[3], targetmat[3]);
|
|
quat= vectoquat(vec, (short)data->reserved1, (short)data->reserved2);
|
|
QuatToMat3(quat, totmat);
|
|
|
|
Mat4CpyMat4(tmat, ob->obmat);
|
|
|
|
Mat4MulMat34(ob->obmat, totmat, tmat);
|
|
|
|
|
|
}
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_KINEMATIC:
|
|
{
|
|
bKinematicConstraint *data;
|
|
float imat[4][4];
|
|
float temp[4][4];
|
|
float totmat[4][4];
|
|
|
|
data=(bKinematicConstraint*)constraint->data;
|
|
|
|
if (data->tar && ownertype==TARGET_BONE && ownerdata){
|
|
Bone *curBone = (Bone*)ownerdata;
|
|
PoseChain *chain;
|
|
Object *armob;
|
|
|
|
/* Retrieve the owner armature object from the workob */
|
|
armob = ob->parent;
|
|
|
|
/* Make an IK chain */
|
|
chain = ik_chain_to_posechain(armob, curBone);
|
|
if (!chain)
|
|
return;
|
|
chain->iterations = data->iterations;
|
|
chain->tolerance = data->tolerance;
|
|
|
|
|
|
{
|
|
float parmat[4][4];
|
|
|
|
/* Take the obmat to objectspace */
|
|
Mat4CpyMat4 (temp, curBone->obmat);
|
|
Mat4One (curBone->obmat);
|
|
get_objectspace_bone_matrix(curBone, parmat, 1, 1);
|
|
Mat4CpyMat4 (curBone->obmat, temp);
|
|
Mat4MulMat4 (totmat, parmat, ob->parent->obmat);
|
|
|
|
Mat4Invert (imat, totmat);
|
|
|
|
Mat4CpyMat4 (temp, ob->obmat);
|
|
Mat4MulMat4 (ob->obmat, temp, imat);
|
|
}
|
|
|
|
|
|
/* Solve it */
|
|
if (chain->solver){
|
|
VECCOPY (chain->goal, targetmat[3]);
|
|
solve_posechain(chain);
|
|
}
|
|
|
|
free_posechain(chain);
|
|
|
|
{
|
|
float parmat[4][4];
|
|
|
|
/* Take the obmat to worldspace */
|
|
Mat4CpyMat4 (temp, curBone->obmat);
|
|
Mat4One (curBone->obmat);
|
|
get_objectspace_bone_matrix(curBone, parmat, 1, 1);
|
|
Mat4CpyMat4 (curBone->obmat, temp);
|
|
Mat4MulMat4 (totmat, parmat, ob->parent->obmat);
|
|
|
|
Mat4CpyMat4 (temp, ob->obmat);
|
|
Mat4MulMat4 (ob->obmat, temp, totmat);
|
|
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_LOCKTRACK:
|
|
{
|
|
bLockTrackConstraint *data;
|
|
float size[3];
|
|
float vec[3],vec2[3];
|
|
float totmat[3][3];
|
|
float tmpmat[3][3];
|
|
float invmat[3][3];
|
|
float tmat[4][4];
|
|
float mdet;
|
|
|
|
|
|
data=(bLockTrackConstraint*)constraint->data;
|
|
|
|
|
|
if (data->tar){
|
|
|
|
Mat4ToSize (ob->obmat, size);
|
|
|
|
Mat4CpyMat4 (M_oldmat, ob->obmat);
|
|
|
|
/* Vector object -> target */
|
|
VecSubf(vec, targetmat[3], ob->obmat[3]);
|
|
switch (data->lockflag){
|
|
case LOCK_X: /* LOCK X */
|
|
{
|
|
switch (data->trackflag){
|
|
case TRACK_Y: /* LOCK X TRACK Y */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[0]);
|
|
VecSubf(totmat[1], vec, vec2);
|
|
Normalise(totmat[1]);
|
|
|
|
/* the x axis is fixed*/
|
|
totmat[0][0] = ob->obmat[0][0];
|
|
totmat[0][1] = ob->obmat[0][1];
|
|
totmat[0][2] = ob->obmat[0][2];
|
|
Normalise(totmat[0]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[2], totmat[0], totmat[1]);
|
|
}
|
|
break;
|
|
case TRACK_Z: /* LOCK X TRACK Z */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[0]);
|
|
VecSubf(totmat[2], vec, vec2);
|
|
Normalise(totmat[2]);
|
|
|
|
/* the x axis is fixed*/
|
|
totmat[0][0] = ob->obmat[0][0];
|
|
totmat[0][1] = ob->obmat[0][1];
|
|
totmat[0][2] = ob->obmat[0][2];
|
|
Normalise(totmat[0]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[1], totmat[2], totmat[0]);
|
|
}
|
|
break;
|
|
case TRACK_nY: /* LOCK X TRACK -Y */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[0]);
|
|
VecSubf(totmat[1], vec, vec2);
|
|
Normalise(totmat[1]);
|
|
VecMulf(totmat[1],-1);
|
|
|
|
/* the x axis is fixed*/
|
|
totmat[0][0] = ob->obmat[0][0];
|
|
totmat[0][1] = ob->obmat[0][1];
|
|
totmat[0][2] = ob->obmat[0][2];
|
|
Normalise(totmat[0]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[2], totmat[0], totmat[1]);
|
|
}
|
|
break;
|
|
case TRACK_nZ: /* LOCK X TRACK -Z */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[0]);
|
|
VecSubf(totmat[2], vec, vec2);
|
|
Normalise(totmat[2]);
|
|
VecMulf(totmat[2],-1);
|
|
|
|
/* the x axis is fixed*/
|
|
totmat[0][0] = ob->obmat[0][0];
|
|
totmat[0][1] = ob->obmat[0][1];
|
|
totmat[0][2] = ob->obmat[0][2];
|
|
Normalise(totmat[0]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[1], totmat[2], totmat[0]);
|
|
}
|
|
break;
|
|
default:
|
|
{
|
|
totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
|
|
totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
|
|
totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
case LOCK_Y: /* LOCK Y */
|
|
{
|
|
switch (data->trackflag){
|
|
case TRACK_X: /* LOCK Y TRACK X */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[1]);
|
|
VecSubf(totmat[0], vec, vec2);
|
|
Normalise(totmat[0]);
|
|
|
|
/* the y axis is fixed*/
|
|
totmat[1][0] = ob->obmat[1][0];
|
|
totmat[1][1] = ob->obmat[1][1];
|
|
totmat[1][2] = ob->obmat[1][2];
|
|
Normalise(totmat[1]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[2], totmat[0], totmat[1]);
|
|
}
|
|
break;
|
|
case TRACK_Y: /* LOCK Y TRACK Z */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[1]);
|
|
VecSubf(totmat[2], vec, vec2);
|
|
Normalise(totmat[2]);
|
|
|
|
/* the y axis is fixed*/
|
|
totmat[1][0] = ob->obmat[1][0];
|
|
totmat[1][1] = ob->obmat[1][1];
|
|
totmat[1][2] = ob->obmat[1][2];
|
|
Normalise(totmat[1]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[0], totmat[1], totmat[2]);
|
|
}
|
|
break;
|
|
case TRACK_nX: /* LOCK Y TRACK -X */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[1]);
|
|
VecSubf(totmat[0], vec, vec2);
|
|
Normalise(totmat[0]);
|
|
VecMulf(totmat[0],-1);
|
|
|
|
/* the y axis is fixed*/
|
|
totmat[1][0] = ob->obmat[1][0];
|
|
totmat[1][1] = ob->obmat[1][1];
|
|
totmat[1][2] = ob->obmat[1][2];
|
|
Normalise(totmat[1]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[2], totmat[0], totmat[1]);
|
|
}
|
|
break;
|
|
case TRACK_nZ: /* LOCK Y TRACK -Z */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[1]);
|
|
VecSubf(totmat[2], vec, vec2);
|
|
Normalise(totmat[2]);
|
|
VecMulf(totmat[2],-1);
|
|
|
|
/* the y axis is fixed*/
|
|
totmat[1][0] = ob->obmat[1][0];
|
|
totmat[1][1] = ob->obmat[1][1];
|
|
totmat[1][2] = ob->obmat[1][2];
|
|
Normalise(totmat[1]);
|
|
|
|
/* the z axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[0], totmat[1], totmat[2]);
|
|
}
|
|
break;
|
|
default:
|
|
{
|
|
totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
|
|
totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
|
|
totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
case LOCK_Z: /* LOCK Z */
|
|
{
|
|
switch (data->trackflag){
|
|
case TRACK_X: /* LOCK Z TRACK X */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[2]);
|
|
VecSubf(totmat[0], vec, vec2);
|
|
Normalise(totmat[0]);
|
|
|
|
/* the z axis is fixed*/
|
|
totmat[2][0] = ob->obmat[2][0];
|
|
totmat[2][1] = ob->obmat[2][1];
|
|
totmat[2][2] = ob->obmat[2][2];
|
|
Normalise(totmat[2]);
|
|
|
|
/* the x axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[1], totmat[2], totmat[0]);
|
|
}
|
|
break;
|
|
case TRACK_Y: /* LOCK Z TRACK Y */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[2]);
|
|
VecSubf(totmat[1], vec, vec2);
|
|
Normalise(totmat[1]);
|
|
|
|
/* the z axis is fixed*/
|
|
totmat[2][0] = ob->obmat[2][0];
|
|
totmat[2][1] = ob->obmat[2][1];
|
|
totmat[2][2] = ob->obmat[2][2];
|
|
Normalise(totmat[2]);
|
|
|
|
/* the x axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[0], totmat[1], totmat[2]);
|
|
}
|
|
break;
|
|
case TRACK_nX: /* LOCK Z TRACK -X */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[2]);
|
|
VecSubf(totmat[0], vec, vec2);
|
|
Normalise(totmat[0]);
|
|
VecMulf(totmat[0],-1);
|
|
|
|
/* the z axis is fixed*/
|
|
totmat[2][0] = ob->obmat[2][0];
|
|
totmat[2][1] = ob->obmat[2][1];
|
|
totmat[2][2] = ob->obmat[2][2];
|
|
Normalise(totmat[2]);
|
|
|
|
/* the x axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[1], totmat[2], totmat[0]);
|
|
}
|
|
break;
|
|
case TRACK_nY: /* LOCK Z TRACK -Y */
|
|
{
|
|
/* Projection of Vector on the plane */
|
|
Projf(vec2, vec, ob->obmat[2]);
|
|
VecSubf(totmat[1], vec, vec2);
|
|
Normalise(totmat[1]);
|
|
VecMulf(totmat[1],-1);
|
|
|
|
/* the z axis is fixed*/
|
|
totmat[2][0] = ob->obmat[2][0];
|
|
totmat[2][1] = ob->obmat[2][1];
|
|
totmat[2][2] = ob->obmat[2][2];
|
|
Normalise(totmat[2]);
|
|
|
|
/* the x axis gets mapped onto
|
|
a third orthogonal vector */
|
|
Crossf(totmat[0], totmat[1], totmat[2]);
|
|
}
|
|
break;
|
|
default:
|
|
{
|
|
totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
|
|
totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
|
|
totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
{
|
|
totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
|
|
totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
|
|
totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
|
|
}
|
|
break;
|
|
}
|
|
/* Block to keep matrix heading */
|
|
tmpmat[0][0] = ob->obmat[0][0];tmpmat[0][1] = ob->obmat[0][1];tmpmat[0][2] = ob->obmat[0][2];
|
|
tmpmat[1][0] = ob->obmat[1][0];tmpmat[1][1] = ob->obmat[1][1];tmpmat[1][2] = ob->obmat[1][2];
|
|
tmpmat[2][0] = ob->obmat[2][0];tmpmat[2][1] = ob->obmat[2][1];tmpmat[2][2] = ob->obmat[2][2];
|
|
Normalise(tmpmat[0]);
|
|
Normalise(tmpmat[1]);
|
|
Normalise(tmpmat[2]);
|
|
Mat3Inv(invmat,tmpmat);
|
|
Mat3MulMat3(tmpmat,totmat,invmat);
|
|
totmat[0][0] = tmpmat[0][0];totmat[0][1] = tmpmat[0][1];totmat[0][2] = tmpmat[0][2];
|
|
totmat[1][0] = tmpmat[1][0];totmat[1][1] = tmpmat[1][1];totmat[1][2] = tmpmat[1][2];
|
|
totmat[2][0] = tmpmat[2][0];totmat[2][1] = tmpmat[2][1];totmat[2][2] = tmpmat[2][2];
|
|
|
|
Mat4CpyMat4(tmat, ob->obmat);
|
|
|
|
mdet = Det3x3( totmat[0][0],totmat[0][1],totmat[0][2],
|
|
totmat[1][0],totmat[1][1],totmat[1][2],
|
|
totmat[2][0],totmat[2][1],totmat[2][2]);
|
|
if (mdet==0)
|
|
{
|
|
totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
|
|
totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
|
|
totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
|
|
}
|
|
|
|
/* apply out transformaton to the object */
|
|
Mat4MulMat34(ob->obmat, totmat, tmat);
|
|
}
|
|
}
|
|
break;
|
|
case CONSTRAINT_TYPE_FOLLOWPATH:
|
|
{
|
|
bFollowPathConstraint *data;
|
|
float obmat[4][4];
|
|
|
|
data=(bFollowPathConstraint*)constraint->data;
|
|
|
|
if (data->tar) {
|
|
|
|
object_to_mat4(ob, obmat);
|
|
|
|
Mat4MulSerie(ob->obmat, targetmat, obmat, NULL, NULL, NULL, NULL, NULL, NULL);
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
printf ("Error: Unknown constraint type\n");
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
void free_constraint_data (bConstraint *con)
|
|
{
|
|
if (con->data){
|
|
switch (con->type){
|
|
default:
|
|
break;
|
|
};
|
|
|
|
MEM_freeN (con->data);
|
|
}
|
|
}
|
|
|
|
void free_constraints (ListBase *conlist)
|
|
{
|
|
bConstraint *con;
|
|
|
|
/* Do any specific freeing */
|
|
for (con=conlist->first; con; con=con->next)
|
|
{
|
|
free_constraint_data (con);
|
|
};
|
|
|
|
/* Free the whole list */
|
|
BLI_freelistN(conlist);
|
|
}
|
|
|
|
void free_constraint_channels (ListBase *chanbase)
|
|
{
|
|
bConstraintChannel *chan;
|
|
|
|
for (chan=chanbase->first; chan; chan=chan->next)
|
|
{
|
|
if (chan->ipo){
|
|
chan->ipo->id.us--;
|
|
}
|
|
}
|
|
|
|
BLI_freelistN(chanbase);
|
|
}
|