Differential D4053 Diff 12823 source/blender/blenkernel/intern/armature.c

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source/blender/blenkernel/intern/armature.c

Show First 20 Lines • Show All 1,453 Lines • ▼ Show 20 Lines	void BKE_armature_loc_world_to_pose(Object *ob, const float inloc[3], float outloc[3])
copy_v3_v3(xLocMat[3], inloc);		copy_v3_v3(xLocMat[3], inloc);

/* get bone-space cursor matrix and extract location */		/* get bone-space cursor matrix and extract location */
BKE_armature_mat_world_to_pose(ob, xLocMat, nLocMat);		BKE_armature_mat_world_to_pose(ob, xLocMat, nLocMat);
copy_v3_v3(outloc, nLocMat[3]);		copy_v3_v3(outloc, nLocMat[3]);
}		}

/* Simple helper, computes the offset bone matrix.		/* Simple helper, computes the offset bone matrix.
* offs_bone = yoffs(b-1) + root(b) + bonemat(b).		* offs_bone = yoffs(b-1) + root(b) + bonemat(b). */
* Not exported, as it is only used in this file currently... */		void BKE_get_offset_bone_mat(Bone *bone, float offs_bone[4][4])
static void get_offset_bone_mat(Bone *bone, float offs_bone[4][4])
{		{
BLI_assert(bone->parent != NULL);		BLI_assert(bone->parent != NULL);

/* Bone transform itself. */		/* Bone transform itself. */
copy_m4_m3(offs_bone, bone->bone_mat);		copy_m4_m3(offs_bone, bone->bone_mat);

/* The bone's root offset (is in the parent's coordinate system). */		/* The bone's root offset (is in the parent's coordinate system). */
copy_v3_v3(offs_bone[3], bone->head);		copy_v3_v3(offs_bone[3], bone->head);
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*		*
* Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location matrix		* Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location matrix
* will differ from the rotation/scale matrix...		* will differ from the rotation/scale matrix...
*		*
* NOTE: This cannot be used to convert to pose-space transforms of the supplied		* NOTE: This cannot be used to convert to pose-space transforms of the supplied
* pose-channel into its local space (i.e. 'visual'-keyframing).		* pose-channel into its local space (i.e. 'visual'-keyframing).
* (note: I don't understand that, so I keep it :p --mont29).		* (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])		void BKE_pchan_to_parent_transform(bPoseChannel pchan, BoneParentTransform r_bpt)
{		{
Bone bone, parbone;		Bone bone, parbone;
bPoseChannel *parchan;		bPoseChannel *parchan;

/* set up variables for quicker access below */		/* set up variables for quicker access below */
bone = pchan->bone;		bone = pchan->bone;
parbone = bone->parent;		parbone = bone->parent;
parchan = pchan->parent;		parchan = pchan->parent;

if (parchan) {		if (parchan) {
float offs_bone[4][4];		float offs_bone[4][4];
/* yoffs(b-1) + root(b) + bonemat(b). */		/* yoffs(b-1) + root(b) + bonemat(b). */
get_offset_bone_mat(bone, offs_bone);		BKE_get_offset_bone_mat(bone, offs_bone);

		BKE_calc_bone_parent_transform(bone->flag, offs_bone, parbone->arm_mat, parchan->pose_mat, r_bpt);
		}
		else {
		BKE_calc_bone_parent_transform(bone->flag, bone->arm_mat, NULL, NULL, r_bpt);
		}
		}

		/* Compute the parent transform using data decoupled from specific data structures.
		*
		* bone_flag: Bone->flag containing settings
		* offs_bone: delta from parent to current arm_mat (or just arm_mat if no parent)
		* parent_arm_mat, parent_pose_mat: arm_mat and pose_mat of parent, or NULL
		* r_bpt: OUTPUT parent transform */
		void BKE_calc_bone_parent_transform(int bone_flag, const float offs_bone[4][4], const float parent_arm_mat[4][4], const float parent_pose_mat[4][4], BoneParentTransform *r_bpt)
		{
		if (parent_pose_mat) {
/* Compose the rotscale matrix for this bone. */		/* Compose the rotscale matrix for this bone. */
if ((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) {		if ((bone_flag & BONE_HINGE) && (bone_flag & BONE_NO_SCALE)) {
/* Parent rest rotation and scale. */		/* Parent rest rotation and scale. */
mul_m4_m4m4(rotscale_mat, parbone->arm_mat, offs_bone);		mul_m4_m4m4(r_bpt->rotscale_mat, parent_arm_mat, offs_bone);
}		}
else if (bone->flag & BONE_HINGE) {		else if (bone_flag & BONE_HINGE) {
/* Parent rest rotation and pose scale. */		/* Parent rest rotation and pose scale. */
float tmat[4][4], tscale[3];		float tmat[4][4], tscale[3];

/* Extract the scale of the parent pose matrix. */		/* Extract the scale of the parent pose matrix. */
mat4_to_size(tscale, parchan->pose_mat);		mat4_to_size(tscale, parent_pose_mat);
size_to_mat4(tmat, tscale);		size_to_mat4(tmat, tscale);

/* Applies the parent pose scale to the rest matrix. */		/* Applies the parent pose scale to the rest matrix. */
mul_m4_m4m4(tmat, tmat, parbone->arm_mat);		mul_m4_m4m4(tmat, tmat, parent_arm_mat);

mul_m4_m4m4(rotscale_mat, tmat, offs_bone);		mul_m4_m4m4(r_bpt->rotscale_mat, tmat, offs_bone);
}		}
else if (bone->flag & BONE_NO_SCALE) {		else if (bone_flag & BONE_NO_SCALE) {
/* Parent pose rotation and rest scale (i.e. no scaling). */		/* Parent pose rotation and rest scale (i.e. no scaling). */
float tmat[4][4];		float tmat[4][4];
copy_m4_m4(tmat, parchan->pose_mat);		copy_m4_m4(tmat, parent_pose_mat);
normalize_m4(tmat);		normalize_m4(tmat);
mul_m4_m4m4(rotscale_mat, tmat, offs_bone);		mul_m4_m4m4(r_bpt->rotscale_mat, tmat, offs_bone);
}		}
else		else
mul_m4_m4m4(rotscale_mat, parchan->pose_mat, offs_bone);		mul_m4_m4m4(r_bpt->rotscale_mat, parent_pose_mat, offs_bone);

/* Compose the loc matrix for this bone. */		/* Compose the loc matrix for this bone. */
/* NOTE: That version does not modify bone's loc when HINGE/NO_SCALE options are set. */		/* 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. */		/* In this case, use the object's space orientation. */
if (bone->flag & BONE_NO_LOCAL_LOCATION) {		if (bone_flag & BONE_NO_LOCAL_LOCATION) {
/* XXX I'm sure that code can be simplified! */		/* XXX I'm sure that code can be simplified! */
float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4], tmat3[3][3];		float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4], tmat3[3][3];
unit_m4(bone_loc);		unit_m4(bone_loc);
unit_m4(loc_mat);		unit_m4(r_bpt->loc_mat);
unit_m4(tmat4);		unit_m4(tmat4);

mul_v3_m4v3(bone_loc[3], parchan->pose_mat, offs_bone[3]);		mul_v3_m4v3(bone_loc[3], parent_pose_mat, offs_bone[3]);

unit_m3(bone_rotscale);		unit_m3(bone_rotscale);
copy_m3_m4(tmat3, parchan->pose_mat);		copy_m3_m4(tmat3, parent_pose_mat);
mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale);		mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale);

copy_m4_m3(tmat4, bone_rotscale);		copy_m4_m3(tmat4, bone_rotscale);
mul_m4_m4m4(loc_mat, bone_loc, tmat4);		mul_m4_m4m4(r_bpt->loc_mat, bone_loc, tmat4);
}		}
/* Those flags do not affect position, use plain parent transform space! */		/* Those flags do not affect position, use plain parent transform space! */
else if (bone->flag & (BONE_HINGE \| BONE_NO_SCALE)) {		else if (bone_flag & (BONE_HINGE \| BONE_NO_SCALE)) {
mul_m4_m4m4(loc_mat, parchan->pose_mat, offs_bone);		mul_m4_m4m4(r_bpt->loc_mat, parent_pose_mat, offs_bone);
}		}
/* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */		/* Else (i.e. default, usual case), just use the same matrix for rotation/scaling, and location. */
else		else
copy_m4_m4(loc_mat, rotscale_mat);		copy_m4_m4(r_bpt->loc_mat, r_bpt->rotscale_mat);
}		}
/* Root bones. */		/* Root bones. */
else {		else {
/* Rotation/scaling. */		/* Rotation/scaling. */
copy_m4_m4(rotscale_mat, pchan->bone->arm_mat);		copy_m4_m4(r_bpt->rotscale_mat, offs_bone);
/* Translation. */		/* Translation. */
if (pchan->bone->flag & BONE_NO_LOCAL_LOCATION) {		if (bone_flag & BONE_NO_LOCAL_LOCATION) {
/* Translation of arm_mat, without the rotation. */		/* Translation of arm_mat, without the rotation. */
unit_m4(loc_mat);		unit_m4(r_bpt->loc_mat);
copy_v3_v3(loc_mat[3], pchan->bone->arm_mat[3]);		copy_v3_v3(r_bpt->loc_mat[3], offs_bone[3]);
}		}
else		else
copy_m4_m4(loc_mat, rotscale_mat);		copy_m4_m4(r_bpt->loc_mat, r_bpt->rotscale_mat);
		}
		}

		void BKE_clear_bone_parent_transform(struct BoneParentTransform *bpt)
		{
		unit_m4(bpt->rotscale_mat);
		unit_m4(bpt->loc_mat);
		}

		void BKE_invert_bone_parent_transform(struct BoneParentTransform *bpt)
		{
		invert_m4(bpt->rotscale_mat);
		invert_m4(bpt->loc_mat);
		}

		void BKE_combine_bone_parent_transform(const struct BoneParentTransform in1, const struct BoneParentTransform in2, struct BoneParentTransform *result)
		{
		mul_m4_m4m4(result->rotscale_mat, in1->rotscale_mat, in2->rotscale_mat);
		mul_m4_m4m4(result->loc_mat, in1->loc_mat, in2->loc_mat);
}		}

		void BKE_apply_bone_parent_transform(const struct BoneParentTransform *bpt, const float inmat[4][4], float outmat[4][4])
		{
		/* in case inmat == outmat */
		float tmploc[3];
		copy_v3_v3(tmploc, inmat[3]);

		mul_m4_m4m4(outmat, bpt->rotscale_mat, inmat);
		mul_v3_m4v3(outmat[3], bpt->loc_mat, tmploc);
}		}

/* Convert Pose-Space Matrix to Bone-Space Matrix.		/* Convert Pose-Space Matrix to Bone-Space Matrix.
* NOTE: this cannot be used to convert to pose-space transforms of the supplied		* NOTE: this cannot be used to convert to pose-space transforms of the supplied
* pose-channel into its local space (i.e. 'visual'-keyframing) */		* 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])		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];		BoneParentTransform bpt;

/* Security, this allows to call with inmat == outmat! */
copy_m4_m4(inmat_, inmat);

BKE_pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);		BKE_pchan_to_parent_transform(pchan, &bpt);
invert_m4(rotscale_mat);		BKE_invert_bone_parent_transform(&bpt);
invert_m4(loc_mat);		BKE_apply_bone_parent_transform(&bpt, inmat, outmat);

mul_m4_m4m4(outmat, rotscale_mat, inmat_);
mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);
}		}

/* Convert Bone-Space Matrix to Pose-Space Matrix. */		/* 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])		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];		BoneParentTransform bpt;

/* 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_);		BKE_pchan_to_parent_transform(pchan, &bpt);
mul_v3_m4v3(outmat[3], loc_mat, inmat_[3]);		BKE_apply_bone_parent_transform(&bpt, inmat, outmat);
}		}

/* Convert Pose-Space Location to Bone-Space Location		/* Convert Pose-Space Location to Bone-Space Location
* NOTE: this cannot be used to convert to pose-space location of the supplied		* NOTE: this cannot be used to convert to pose-space location of the supplied
* pose-channel into its local space (i.e. 'visual'-keyframing) */		* 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])		void BKE_armature_loc_pose_to_bone(bPoseChannel *pchan, const float inloc[3], float outloc[3])
{		{
float xLocMat[4][4];		float xLocMat[4][4];
▲ Show 20 Lines • Show All 293 Lines • ▼ Show 20 Lines	if (bone->xwidth == 0.0f) {
bone->xwidth = 0.1f;		bone->xwidth = 0.1f;
bone->zwidth = 0.1f;		bone->zwidth = 0.1f;
bone->segments = 1;		bone->segments = 1;
}		}

if (prevbone) {		if (prevbone) {
float offs_bone[4][4];		float offs_bone[4][4];
/* yoffs(b-1) + root(b) + bonemat(b) */		/* yoffs(b-1) + root(b) + bonemat(b) */
get_offset_bone_mat(bone, offs_bone);		BKE_get_offset_bone_mat(bone, offs_bone);

/* Compose the matrix for this bone */		/* Compose the matrix for this bone */
mul_m4_m4m4(bone->arm_mat, prevbone->arm_mat, offs_bone);		mul_m4_m4m4(bone->arm_mat, prevbone->arm_mat, offs_bone);
}		}
else {		else {
copy_m4_m3(bone->arm_mat, bone->bone_mat);		copy_m4_m3(bone->arm_mat, bone->bone_mat);
copy_v3_v3(bone->arm_mat[3], bone->head);		copy_v3_v3(bone->arm_mat[3], bone->head);
}		}
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