Revision: 15233
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=15233
Author: aligorith
Date: 2008-06-15 12:19:38 +0200 (Sun, 15 Jun 2008)
Log Message:
-----------
Whitespace commit in armature.c
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/armature.c
Modified: trunk/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/armature.c 2008-06-15
09:49:18 UTC (rev 15232)
+++ trunk/blender/source/blender/blenkernel/intern/armature.c 2008-06-15
10:19:38 UTC (rev 15233)
@@ -1709,13 +1709,13 @@
if (tree->totchannel == 0)
return;
-
+
iktree= MEM_mallocN(sizeof(void*)*tree->totchannel, "ik tree");
for(a=0; a<tree->totchannel; a++) {
pchan= tree->pchan[a];
bone= pchan->bone;
-
+
/* set DoF flag */
flag= 0;
if(!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag &
BONE_IK_NO_XDOF_TEMP))
@@ -1724,32 +1724,32 @@
flag |= IK_YDOF;
if(!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag &
BONE_IK_NO_ZDOF_TEMP))
flag |= IK_ZDOF;
-
+
if(tree->stretch && (pchan->ikstretch > 0.0)) {
flag |= IK_TRANS_YDOF;
hasstretch = 1;
}
-
+
seg= iktree[a]= IK_CreateSegment(flag);
-
+
/* find parent */
if(a == 0)
parent= NULL;
else
parent= iktree[tree->parent[a]];
-
+
IK_SetParent(seg, parent);
-
+
/* get the matrix that transforms from prevbone into this bone
*/
Mat3CpyMat4(R_bonemat, pchan->pose_mat);
-
+
/* gather transformations for this IK segment */
-
+
if (pchan->parent)
Mat3CpyMat4(R_parmat, pchan->parent->pose_mat);
else
Mat3One(R_parmat);
-
+
/* bone offset */
if (pchan->parent && (a > 0))
VecSubf(start, pchan->pose_head,
pchan->parent->pose_tail);
@@ -1759,37 +1759,37 @@
/* change length based on bone size */
length= bone->length*VecLength(R_bonemat[1]);
-
+
/* compute rest basis and its inverse */
Mat3CpyMat3(rest_basis, bone->bone_mat);
Mat3CpyMat3(irest_basis, bone->bone_mat);
Mat3Transp(irest_basis);
-
+
/* compute basis with rest_basis removed */
Mat3Inv(iR_parmat, R_parmat);
Mat3MulMat3(full_basis, iR_parmat, R_bonemat);
Mat3MulMat3(basis, irest_basis, full_basis);
-
+
/* basis must be pure rotation */
Mat3Ortho(basis);
-
+
/* transform offset into local bone space */
Mat3Ortho(iR_parmat);
Mat3MulVecfl(iR_parmat, start);
-
+
IK_SetTransform(seg, start, rest_basis, basis, length);
-
+
if (pchan->ikflag & BONE_IK_XLIMIT)
IK_SetLimit(seg, IK_X, pchan->limitmin[0],
pchan->limitmax[0]);
if (pchan->ikflag & BONE_IK_YLIMIT)
IK_SetLimit(seg, IK_Y, pchan->limitmin[1],
pchan->limitmax[1]);
if (pchan->ikflag & BONE_IK_ZLIMIT)
IK_SetLimit(seg, IK_Z, pchan->limitmin[2],
pchan->limitmax[2]);
-
+
IK_SetStiffness(seg, IK_X, pchan->stiffness[0]);
IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]);
IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]);
-
+
if(tree->stretch && (pchan->ikstretch > 0.0)) {
float ikstretch = pchan->ikstretch*pchan->ikstretch;
IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0-ikstretch,
0.99));
@@ -1818,7 +1818,7 @@
for (target=tree->targets.first; target; target=target->next) {
float polepos[3];
int poleconstrain= 0;
-
+
data= (bKinematicConstraint*)target->con->data;
/* 1.0=ctime, we pass on object for auto-ik (owner-type here is
object, even though
@@ -1835,7 +1835,7 @@
/* same for pole vector target */
if(data->poletar) {
get_constraint_target_matrix(target->con, 1,
CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
-
+
if(data->flag & CONSTRAINT_IK_SETANGLE) {
/* don't solve IK when we are setting the pole
angle */
break;
@@ -1844,7 +1844,7 @@
Mat4MulMat4(goal, rootmat, goalinv);
VECCOPY(polepos, goal[3]);
poleconstrain= 1;
-
+
if(data->flag & CONSTRAINT_IK_GETANGLE) {
poleangledata= data;
data->flag &= ~CONSTRAINT_IK_GETANGLE;
@@ -1903,36 +1903,35 @@
tree->basis_change= MEM_mallocN(sizeof(float[3][3])*tree->totchannel,
"ik basis change");
if(hasstretch)
ikstretch= MEM_mallocN(sizeof(float)*tree->totchannel, "ik
stretch");
-
+
for(a=0; a<tree->totchannel; a++) {
IK_GetBasisChange(iktree[a], tree->basis_change[a]);
-
+
if(hasstretch) {
/* have to compensate for scaling received from parent
*/
float parentstretch, stretch;
-
+
pchan= tree->pchan[a];
parentstretch= (tree->parent[a] >= 0)?
ikstretch[tree->parent[a]]: 1.0;
-
+
if(tree->stretch && (pchan->ikstretch > 0.0)) {
float trans[3], length;
-
+
IK_GetTranslationChange(iktree[a], trans);
length=
pchan->bone->length*VecLength(pchan->pose_mat[1]);
-
+
ikstretch[a]= (length == 0.0)? 1.0:
(trans[1]+length)/length;
}
else
ikstretch[a] = 1.0;
-
+
stretch= (parentstretch == 0.0)? 1.0:
ikstretch[a]/parentstretch;
-
+
VecMulf(tree->basis_change[a][0], stretch);
VecMulf(tree->basis_change[a][1], stretch);
VecMulf(tree->basis_change[a][2], stretch);
-
}
-
+
IK_FreeSegment(iktree[a]);
}
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