Revision: 41784
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=41784
Author: blendix
Date: 2011-11-13 13:08:15 +0000 (Sun, 13 Nov 2011)
Log Message:
-----------
Fix #29041: parenting problem with tree IK for iTaSC and iksolver, where it
would use the wrong bone as parent on brancing. Patch by Juha Maki-Kanto.
Modified Paths:
--------------
trunk/blender/intern/itasc/kdl/chain.hpp
trunk/blender/source/blender/ikplugin/intern/iksolver_plugin.c
trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
Modified: trunk/blender/intern/itasc/kdl/chain.hpp
===================================================================
--- trunk/blender/intern/itasc/kdl/chain.hpp 2011-11-13 13:04:46 UTC (rev
41783)
+++ trunk/blender/intern/itasc/kdl/chain.hpp 2011-11-13 13:08:15 UTC (rev
41784)
@@ -24,6 +24,7 @@
#include "segment.hpp"
#include <string>
+#include <Eigen/StdVector>
namespace KDL {
/**
Modified: trunk/blender/source/blender/ikplugin/intern/iksolver_plugin.c
===================================================================
--- trunk/blender/source/blender/ikplugin/intern/iksolver_plugin.c
2011-11-13 13:04:46 UTC (rev 41783)
+++ trunk/blender/source/blender/ikplugin/intern/iksolver_plugin.c
2011-11-13 13:08:15 UTC (rev 41784)
@@ -62,8 +62,8 @@
PoseTarget *target;
bConstraint *con;
bKinematicConstraint *data;
- int a, segcount= 0, size, newsize, *oldparent, parent;
-
+ int a, t, segcount= 0, size, newsize, *oldparent, parent;
+
/* find IK constraint, and validate it */
for(con= pchan_tip->constraints.first; con; con= con->next) {
if(con->type==CONSTRAINT_TYPE_KINEMATIC) {
@@ -114,7 +114,7 @@
if(tree==NULL) {
/* make new tree */
tree= MEM_callocN(sizeof(PoseTree), "posetree");
-
+
tree->type= CONSTRAINT_TYPE_KINEMATIC;
tree->iterations= data->iterations;
@@ -138,13 +138,27 @@
/* skip common pose channels and add remaining*/
size= MIN2(segcount, tree->totchannel);
- for(a=0; a<size && tree->pchan[a]==chanlist[segcount-a-1]; a++);
- parent= a-1;
+ a = t = 0;
+ while (a<size && t<tree->totchannel) {
+ // locate first matching channel
+ for (;t<tree->totchannel &&
tree->pchan[t]!=chanlist[segcount-a-1];t++);
+ if (t>=tree->totchannel)
+ break;
+ for(; a<size && t<tree->totchannel &&
tree->pchan[t]==chanlist[segcount-a-1]; a++, t++);
+ }
segcount= segcount-a;
target->tip= tree->totchannel + segcount - 1;
if (segcount > 0) {
+ for(parent = a - 1; parent < tree->totchannel; parent++)
+ if(tree->pchan[parent] ==
chanlist[segcount-1]->parent)
+ break;
+
+ /* shouldn't happen, but could with dependency cycles */
+ if(parent == tree->totchannel)
+ parent = a - 1;
+
/* resize array */
newsize= tree->totchannel + segcount;
oldchan= tree->pchan;
Modified: trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
===================================================================
--- trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
2011-11-13 13:04:46 UTC (rev 41783)
+++ trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
2011-11-13 13:08:15 UTC (rev 41784)
@@ -326,11 +326,19 @@
break;
for(; a<size && t<tree->totchannel &&
tree->pchan[t]==chanlist[segcount-a-1]; a++, t++);
}
- parent= a-1;
+
segcount= segcount-a;
target->tip= tree->totchannel + segcount - 1;
if (segcount > 0) {
+ for(parent = a - 1; parent < tree->totchannel; parent++)
+ if(tree->pchan[parent] ==
chanlist[segcount-1]->parent)
+ break;
+
+ /* shouldn't happen, but could with dependency cycles */
+ if(parent == tree->totchannel)
+ parent = a - 1;
+
/* resize array */
newsize= tree->totchannel + segcount;
oldchan= tree->pchan;
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