Fix #111553: Double IK constraint not working #113056
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@ -14,6 +14,7 @@
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#include "BLI_math_rotation.h"
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#include "BLI_math_vector.h"
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#include "BLI_utildefines.h"
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#include "BLI_vector.hh"
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#include "BKE_armature.h"
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#include "BKE_constraint.h"
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@ -32,24 +33,15 @@
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/* ********************** THE IK SOLVER ******************* */
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/* allocates PoseTree, and links that to root bone/channel */
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/* NOTE: detecting the IK chain is duplicate code...
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* in drawarmature.c and in transform_conversions.c */
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static void initialize_posetree(Object * /*ob*/, bPoseChannel *pchan_tip)
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static void find_ik_constraints(ListBase *constraints,
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blender::Vector<bConstraint *> &ik_constraints)
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{
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bPoseChannel *curchan, *pchan_root = nullptr, *chanlist[256], **oldchan;
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PoseTree *tree;
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PoseTarget *target;
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bConstraint *con;
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bKinematicConstraint *data;
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int a, t, segcount = 0, size, newsize, *oldparent, parent;
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/* find IK constraint, and validate it */
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for (con = static_cast<bConstraint *>(pchan_tip->constraints.first); con; con = con->next) {
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LISTBASE_FOREACH (bConstraint *, con, constraints) {
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if (con->type == CONSTRAINT_TYPE_KINEMATIC) {
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data = (bKinematicConstraint *)con->data;
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bKinematicConstraint *data = (bKinematicConstraint *)con->data;
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if (data->flag & CONSTRAINT_IK_AUTO) {
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break;
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ik_constraints.append(con);
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continue;
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}
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if (data->tar == nullptr) {
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continue;
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@ -57,149 +49,175 @@ static void initialize_posetree(Object * /*ob*/, bPoseChannel *pchan_tip)
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if (data->tar->type == OB_ARMATURE && data->subtarget[0] == 0) {
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continue;
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}
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if ((con->flag & CONSTRAINT_DISABLE) == 0) {
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break;
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if (con->flag & CONSTRAINT_DISABLE) {
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continue;
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}
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ik_constraints.append(con);
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}
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}
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if (con == nullptr) {
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}
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/* allocates PoseTree, and links that to root bone/channel */
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/* NOTE: detecting the IK chain is duplicate code...
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* in drawarmature.c and in transform_conversions.c */
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static void initialize_posetree(Object * /*ob*/, bPoseChannel *pchan_tip)
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{
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blender::Vector<bConstraint *> ik_constraints;
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find_ik_constraints(&pchan_tip->constraints, ik_constraints);
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if (ik_constraints.size() == 0) {
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return;
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}
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/* exclude tip from chain? */
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if (!(data->flag & CONSTRAINT_IK_TIP)) {
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pchan_tip = pchan_tip->parent;
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}
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/* Find the chain's root & count the segments needed */
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for (curchan = pchan_tip; curchan; curchan = curchan->parent) {
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pchan_root = curchan;
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curchan->flag |= POSE_CHAIN; /* don't forget to clear this */
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chanlist[segcount] = curchan;
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segcount++;
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if (segcount == data->rootbone || segcount > 255) {
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break; /* 255 is weak */
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}
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}
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if (!segcount) {
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return;
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}
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/* setup the chain data */
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/* we make tree-IK, unless all existing targets are in this chain */
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for (tree = static_cast<PoseTree *>(pchan_root->iktree.first); tree; tree = tree->next) {
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for (target = static_cast<PoseTarget *>(tree->targets.first); target; target = target->next) {
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curchan = tree->pchan[target->tip];
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if (curchan->flag & POSE_CHAIN) {
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curchan->flag &= ~POSE_CHAIN;
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}
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else {
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break;
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}
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}
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if (target) {
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break;
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}
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}
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/* create a target */
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target = static_cast<PoseTarget *>(MEM_callocN(sizeof(PoseTarget), "posetarget"));
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target->con = con;
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pchan_tip->flag &= ~POSE_CHAIN;
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if (tree == nullptr) {
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/* make new tree */
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tree = static_cast<PoseTree *>(MEM_callocN(sizeof(PoseTree), "posetree"));
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tree->type = CONSTRAINT_TYPE_KINEMATIC;
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tree->iterations = data->iterations;
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tree->totchannel = segcount;
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tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
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tree->pchan = static_cast<bPoseChannel **>(
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MEM_callocN(segcount * sizeof(void *), "ik tree pchan"));
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tree->parent = static_cast<int *>(MEM_callocN(segcount * sizeof(int), "ik tree parent"));
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for (a = 0; a < segcount; a++) {
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tree->pchan[a] = chanlist[segcount - a - 1];
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tree->parent[a] = a - 1;
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}
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target->tip = segcount - 1;
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/* AND! link the tree to the root */
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BLI_addtail(&pchan_root->iktree, tree);
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}
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else {
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tree->iterations = MAX2(data->iterations, tree->iterations);
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tree->stretch = tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH);
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/* Skip common pose channels and add remaining. */
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size = MIN2(segcount, tree->totchannel);
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a = t = 0;
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while (a < size && t < tree->totchannel) {
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/* locate first matching channel */
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for (; t < tree->totchannel && tree->pchan[t] != chanlist[segcount - a - 1]; t++) {
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/* pass */
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}
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if (t >= tree->totchannel) {
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break;
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}
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for (; a < size && t < tree->totchannel && tree->pchan[t] == chanlist[segcount - a - 1];
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a++, t++) {
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/* pass */
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}
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for (bConstraint *constraint : ik_constraints) {
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bPoseChannel *curchan, *pchan_root = nullptr, *chanlist[256], **oldchan;
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int segcount = 0;
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PoseTarget *target;
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PoseTree *tree;
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bKinematicConstraint *data = (bKinematicConstraint *)constraint->data;
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/* exclude tip from chain? */
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if (!(data->flag & CONSTRAINT_IK_TIP)) {
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pchan_tip = pchan_tip->parent;
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}
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segcount = segcount - a;
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target->tip = tree->totchannel + segcount - 1;
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/* Find the chain's root & count the segments needed */
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for (curchan = pchan_tip; curchan; curchan = curchan->parent) {
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pchan_root = curchan;
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if (segcount > 0) {
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for (parent = a - 1; parent < tree->totchannel; parent++) {
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if (tree->pchan[parent] == chanlist[segcount - 1]->parent) {
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curchan->flag |= POSE_CHAIN; /* don't forget to clear this */
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chanlist[segcount] = curchan;
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segcount++;
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if (segcount == data->rootbone || segcount > 255) {
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break; /* 255 is weak */
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}
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}
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if (!segcount) {
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continue;
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}
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/* setup the chain data */
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/* we make tree-IK, unless all existing targets are in this chain */
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for (tree = static_cast<PoseTree *>(pchan_root->iktree.first); tree; tree = tree->next) {
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for (target = static_cast<PoseTarget *>(tree->targets.first); target; target = target->next)
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{
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curchan = tree->pchan[target->tip];
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if (curchan->flag & POSE_CHAIN) {
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curchan->flag &= ~POSE_CHAIN;
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}
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else {
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break;
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}
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}
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/* shouldn't happen, but could with dependency cycles */
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if (parent == tree->totchannel) {
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parent = a - 1;
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if (target) {
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break;
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}
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/* resize array */
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newsize = tree->totchannel + segcount;
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oldchan = tree->pchan;
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oldparent = tree->parent;
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tree->pchan = static_cast<bPoseChannel **>(
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MEM_callocN(newsize * sizeof(void *), "ik tree pchan"));
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tree->parent = static_cast<int *>(MEM_callocN(newsize * sizeof(int), "ik tree parent"));
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memcpy(tree->pchan, oldchan, sizeof(void *) * tree->totchannel);
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memcpy(tree->parent, oldparent, sizeof(int) * tree->totchannel);
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MEM_freeN(oldchan);
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MEM_freeN(oldparent);
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/* add new pose channels at the end, in reverse order */
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for (a = 0; a < segcount; a++) {
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tree->pchan[tree->totchannel + a] = chanlist[segcount - a - 1];
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tree->parent[tree->totchannel + a] = tree->totchannel + a - 1;
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}
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tree->parent[tree->totchannel] = parent;
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tree->totchannel = newsize;
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}
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/* move tree to end of list, for correct evaluation order */
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BLI_remlink(&pchan_root->iktree, tree);
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BLI_addtail(&pchan_root->iktree, tree);
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}
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/* create a target */
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target = static_cast<PoseTarget *>(MEM_callocN(sizeof(PoseTarget), "posetarget"));
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target->con = constraint;
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pchan_tip->flag &= ~POSE_CHAIN;
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/* add target to the tree */
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BLI_addtail(&tree->targets, target);
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/* mark root channel having an IK tree */
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pchan_root->flag |= POSE_IKTREE;
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if (tree == nullptr) {
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/* make new tree */
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tree = static_cast<PoseTree *>(MEM_callocN(sizeof(PoseTree), "posetree"));
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tree->type = CONSTRAINT_TYPE_KINEMATIC;
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tree->iterations = data->iterations;
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tree->totchannel = segcount;
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tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
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tree->pchan = static_cast<bPoseChannel **>(
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MEM_callocN(segcount * sizeof(void *), "ik tree pchan"));
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tree->parent = static_cast<int *>(MEM_callocN(segcount * sizeof(int), "ik tree parent"));
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for (int a = 0; a < segcount; a++) {
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tree->pchan[a] = chanlist[segcount - a - 1];
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tree->parent[a] = a - 1;
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}
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target->tip = segcount - 1;
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/* AND! link the tree to the root */
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BLI_addtail(&pchan_root->iktree, tree);
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}
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else {
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tree->iterations = MAX2(data->iterations, tree->iterations);
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tree->stretch = tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH);
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/* Skip common pose channels and add remaining. */
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const int size = MIN2(segcount, tree->totchannel);
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int a, t;
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a = t = 0;
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while (a < size && t < tree->totchannel) {
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/* locate first matching channel */
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for (; t < tree->totchannel && tree->pchan[t] != chanlist[segcount - a - 1]; t++) {
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/* pass */
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}
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if (t >= tree->totchannel) {
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break;
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}
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for (; a < size && t < tree->totchannel && tree->pchan[t] == chanlist[segcount - a - 1];
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a++, t++) {
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/* pass */
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}
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}
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segcount = segcount - a;
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target->tip = tree->totchannel + segcount - 1;
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if (segcount > 0) {
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int parent;
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for (parent = a - 1; parent < tree->totchannel; parent++) {
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if (tree->pchan[parent] == chanlist[segcount - 1]->parent) {
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break;
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}
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}
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/* shouldn't happen, but could with dependency cycles */
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if (parent == tree->totchannel) {
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parent = a - 1;
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}
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/* resize array */
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const int newsize = tree->totchannel + segcount;
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oldchan = tree->pchan;
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int *oldparent = tree->parent;
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tree->pchan = static_cast<bPoseChannel **>(
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MEM_callocN(newsize * sizeof(void *), "ik tree pchan"));
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tree->parent = static_cast<int *>(MEM_callocN(newsize * sizeof(int), "ik tree parent"));
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memcpy(tree->pchan, oldchan, sizeof(void *) * tree->totchannel);
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memcpy(tree->parent, oldparent, sizeof(int) * tree->totchannel);
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MEM_freeN(oldchan);
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MEM_freeN(oldparent);
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/* add new pose channels at the end, in reverse order */
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for (a = 0; a < segcount; a++) {
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tree->pchan[tree->totchannel + a] = chanlist[segcount - a - 1];
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tree->parent[tree->totchannel + a] = tree->totchannel + a - 1;
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}
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tree->parent[tree->totchannel] = parent;
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tree->totchannel = newsize;
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}
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/* move tree to end of list, for correct evaluation order */
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BLI_remlink(&pchan_root->iktree, tree);
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BLI_addtail(&pchan_root->iktree, tree);
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}
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/* add target to the tree */
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BLI_addtail(&tree->targets, target);
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/* mark root channel having an IK tree */
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pchan_root->flag |= POSE_IKTREE;
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/* Per bone only one active IK constraint is supported. Inactive constraints still need to be
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* added for the depsgraph to evaluate properly.*/
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if (constraint->enforce != 0.0 && !(constraint->flag & CONSTRAINT_OFF)) {
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break;
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}
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}
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}
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/* transform from bone(b) to bone(b+1), store in chan_mat */
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