Revision: 16435
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16435
Author: blendix
Date: 2008-09-09 17:15:01 +0200 (Tue, 09 Sep 2008)
Log Message:
-----------
Fix for bug #17402: IK influence blending with pole targets
didn't give smooth transition. Now it blends the result of
IK solving in that case.
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/armature.c
trunk/blender/source/blender/blenlib/BLI_arithb.h
trunk/blender/source/blender/blenlib/intern/arithb.c
Modified: trunk/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/armature.c 2008-09-09
14:16:54 UTC (rev 16434)
+++ trunk/blender/source/blender/blenkernel/intern/armature.c 2008-09-09
15:15:01 UTC (rev 16435)
@@ -1690,7 +1690,7 @@
were executed & assigned. Now as last we do an IK pass */
static void execute_posetree(Object *ob, PoseTree *tree)
{
- float R_parmat[3][3];
+ float R_parmat[3][3], identity[3][3];
float iR_parmat[3][3];
float R_bonemat[3][3];
float goalrot[3][3], goalpos[3];
@@ -1699,7 +1699,8 @@
float irest_basis[3][3], full_basis[3][3];
float end_pose[4][4], world_pose[4][4];
float length, basis[3][3], rest_basis[3][3], start[3], *ikstretch=NULL;
- int a, flag, hasstretch=0;
+ float resultinf=0.0f;
+ int a, flag, hasstretch=0, resultblend=0;
bPoseChannel *pchan;
IK_Segment *seg, *parent, **iktree, *iktarget;
IK_Solver *solver;
@@ -1844,6 +1845,12 @@
Mat4MulMat4(goal, rootmat, goalinv);
VECCOPY(polepos, goal[3]);
poleconstrain= 1;
+
+ /* for pole targets, we blend the result of the
ik solver
+ * instead of the target position, otherwise we
can't get
+ * a smooth transition */
+ resultblend= 1;
+ resultinf= target->con->enforce;
if(data->flag & CONSTRAINT_IK_GETANGLE) {
poleangledata= data;
@@ -1853,7 +1860,7 @@
}
/* do we need blending? */
- if (target->con->enforce!=1.0) {
+ if (!resultblend && target->con->enforce!=1.0) {
float q1[4], q2[4], q[4];
float fac= target->con->enforce;
float mfac= 1.0-fac;
@@ -1903,7 +1910,7 @@
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]);
@@ -1931,6 +1938,12 @@
VecMulf(tree->basis_change[a][1], stretch);
VecMulf(tree->basis_change[a][2], stretch);
}
+
+ if(resultblend && resultinf!=1.0f) {
+ Mat3One(identity);
+ Mat3BlendMat3(tree->basis_change[a], identity,
+ tree->basis_change[a], resultinf);
+ }
IK_FreeSegment(iktree[a]);
}
Modified: trunk/blender/source/blender/blenlib/BLI_arithb.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_arithb.h 2008-09-09 14:16:54 UTC
(rev 16434)
+++ trunk/blender/source/blender/blenlib/BLI_arithb.h 2008-09-09 15:15:01 UTC
(rev 16435)
@@ -164,6 +164,7 @@
void Mat3CpyMat4(float m1[][3],float m2[][4]);
void Mat4CpyMat3(float m1[][4], float m2[][3]);
+void Mat3BlendMat3(float out[][3], float dst[][3], float src[][3], float
srcweight);
void Mat4BlendMat4(float out[][4], float dst[][4], float src[][4], float
srcweight);
float Det2x2(float a,float b,float c, float d);
Modified: trunk/blender/source/blender/blenlib/intern/arithb.c
===================================================================
--- trunk/blender/source/blender/blenlib/intern/arithb.c 2008-09-09
14:16:54 UTC (rev 16434)
+++ trunk/blender/source/blender/blenlib/intern/arithb.c 2008-09-09
15:15:01 UTC (rev 16435)
@@ -759,6 +759,28 @@
}
}
+void Mat3BlendMat3(float out[][3], float dst[][3], float src[][3], float
srcweight)
+{
+ float squat[4], dquat[4], fquat[4];
+ float ssize[3], dsize[3], fsize[4];
+ float rmat[3][3], smat[3][3];
+
+ Mat3ToQuat(dst, dquat);
+ Mat3ToSize(dst, dsize);
+
+ Mat3ToQuat(src, squat);
+ Mat3ToSize(src, ssize);
+
+ /* do blending */
+ QuatInterpol(fquat, dquat, squat, srcweight);
+ VecLerpf(fsize, dsize, ssize, srcweight);
+
+ /* compose new matrix */
+ QuatToMat3(fquat, rmat);
+ SizeToMat3(fsize, smat);
+ Mat3MulMat3(out, rmat, smat);
+}
+
void Mat4BlendMat4(float out[][4], float dst[][4], float src[][4], float
srcweight)
{
float squat[4], dquat[4], fquat[4];
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