Commit: f05f2f0336025f00a299ec930151a155d55c6ab3 Author: Brecht Van Lommel Date: Wed Jul 5 23:15:12 2017 +0200 Branches: master https://developer.blender.org/rBf05f2f0336025f00a299ec930151a155d55c6ab3
Fix T51971: IK non-uniform scale regression. This is a different fix for the issue from D2088, preserving backwards compatibility for IK stretching. The main problem with this patch is that this new behavior has been there for a year, so it may break rigs created since then which rely on the new IK stretch behavior. Test file for various cases: https://developer.blender.org/diffusion/BL/browse/trunk/lib/tests/animation/IK.blend Reviewers: campbellbarton Subscribers: maverick, pkrime Differential Revision: https://developer.blender.org/D2743 =================================================================== M source/blender/ikplugin/intern/iksolver_plugin.c =================================================================== diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c index 6ea311b2c7b..f837789914e 100644 --- a/source/blender/ikplugin/intern/iksolver_plugin.c +++ b/source/blender/ikplugin/intern/iksolver_plugin.c @@ -217,9 +217,27 @@ static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[3][3]) // nr = copy_m4_m3(ikmat, ik_mat); if (pchan->parent) - mul_m4_series(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat); + mul_m4_m4m4(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat); else - mul_m4_m4m4(pchan->pose_mat, pchan->chan_mat, ikmat); + copy_m4_m4(pchan->pose_mat, pchan->chan_mat); + +#ifdef USE_NONUNIFORM_SCALE + /* apply IK mat, but as if the bones have uniform scale since the IK solver + * is not aware of non-uniform scale */ + float scale[3]; + mat4_to_size(scale, pchan->pose_mat); + normalize_v3_length(pchan->pose_mat[0], scale[1]); + normalize_v3_length(pchan->pose_mat[2], scale[1]); +#endif + + mul_m4_m4m4(pchan->pose_mat, pchan->pose_mat, ikmat); + +#ifdef USE_NONUNIFORM_SCALE + float ik_scale[3]; + mat3_to_size(ik_scale, ik_mat); + normalize_v3_length(pchan->pose_mat[0], scale[0] * ik_scale[0]); + normalize_v3_length(pchan->pose_mat[2], scale[2] * ik_scale[2]); +#endif /* calculate head */ copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]); @@ -308,6 +326,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) /* change length based on bone size */ length = bone->length * len_v3(R_bonemat[1]); + /* basis must be pure rotation */ + normalize_m3(R_bonemat); + normalize_m3(R_parmat); + /* compute rest basis and its inverse */ copy_m3_m3(rest_basis, bone->bone_mat); transpose_m3_m3(irest_basis, bone->bone_mat); @@ -317,11 +339,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree) mul_m3_m3m3(full_basis, iR_parmat, R_bonemat); mul_m3_m3m3(basis, irest_basis, full_basis); - /* basis must be pure rotation */ - normalize_m3(basis); - /* transform offset into local bone space */ - normalize_m3(iR_parmat); mul_m3_v3(iR_parmat, start); IK_SetTransform(seg, start, rest_basis, basis, length); @@ -545,18 +563,6 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan tree->pchan[a]->flag |= POSE_CHAIN; } -#ifdef USE_NONUNIFORM_SCALE - float (*pchan_scale_data)[3] = MEM_mallocN(sizeof(float[3]) * tree->totchannel, __func__); - - for (a = 0; a < tree->totchannel; a++) { - mat4_to_size(pchan_scale_data[a], tree->pchan[a]->pose_mat); - - /* make uniform at y scale since this controls the length */ - normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][1]); - normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][1]); - } -#endif - /* 5. execute the IK solver */ execute_posetree(scene, ob, tree); @@ -571,14 +577,6 @@ void iksolver_execute_tree(struct Scene *scene, Object *ob, bPoseChannel *pchan where_is_ik_bone(tree->pchan[a], tree->basis_change[a]); } -#ifdef USE_NONUNIFORM_SCALE - for (a = 0; a < tree->totchannel; a++) { - normalize_v3_length(tree->pchan[a]->pose_mat[0], pchan_scale_data[a][0]); - normalize_v3_length(tree->pchan[a]->pose_mat[2], pchan_scale_data[a][2]); - } - MEM_freeN(pchan_scale_data); -#endif - /* 7. and free */ BLI_remlink(&pchan_root->iktree, tree); free_posetree(tree); _______________________________________________ Bf-blender-cvs mailing list [email protected] https://lists.blender.org/mailman/listinfo/bf-blender-cvs
