Revision: 43450
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=43450
Author: mont29
Date: 2012-01-17 13:30:20 +0000 (Tue, 17 Jan 2012)
Log Message:
-----------
New pchan to pose matrices computes. Fixes [#27898] Bone snap to cursor fails
and [#29461] Selection-to-Cursor works strange with bones with TrackTo
constraint. Also fixes some inconsistant behavior of no Inherit Rotation/Scale
options.
WARNING: This commits modifies how translated unconnected child bones with *no
Inherit Rotation option* are positionned. This means that if you open a
posed/animated armature using such (corner-case) setup, you'll have to adjust
manually the locations of such bones: now, disabling Inherit Rotation/Scale
will no more move the bone, only affecting its rotation/scale.
Many thanks to Bassam Kurdali (slikdigit) for his advices and tests of the
patch!
-----
Dev notes?\194?\160: the pchan_to_pose_mat() func was added to BKE_armature.h,
which computes two matrices to get the pose transformations (pchan) of the bone
directly in pose (i.e. armature object) space. The first matrix is the
rotation/scaling parts, the second one is for location.
That new function is used by (hence deduplicating and simplifying their code):
* The pose evaluation code (where_is_pose_bone()).
* The interactive transformation code (add_pose_transdata(), in
transform_conversion.c).
* The snap to cursor/grid code (through
armature_loc_pose_to_bone()/armature_mat_pose_to_bone()).
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/BKE_armature.h
trunk/blender/source/blender/blenkernel/intern/armature.c
trunk/blender/source/blender/editors/space_view3d/view3d_snap.c
trunk/blender/source/blender/editors/transform/transform_conversions.c
Modified: trunk/blender/source/blender/blenkernel/BKE_armature.h
===================================================================
--- trunk/blender/source/blender/blenkernel/BKE_armature.h 2012-01-17
13:26:59 UTC (rev 43449)
+++ trunk/blender/source/blender/blenkernel/BKE_armature.h 2012-01-17
13:30:20 UTC (rev 43450)
@@ -114,6 +114,10 @@
void pchan_to_mat4(struct bPoseChannel *pchan, float chan_mat[4][4]);
void pchan_calc_mat(struct bPoseChannel *pchan);
+/* Get the "pchan to pose" transform matrix. These matrices apply the effects
of
+ * HINGE/NO_SCALE/NO_LOCAL_LOCATION options over the pchan loc/rot/scale
transformations. */
+void pchan_to_pose_mat(struct bPoseChannel *pchan, float rotscale_mat[][4],
float loc_mat[][4]);
+
/* Rotation Mode Conversions - Used for PoseChannels + Objects... */
void BKE_rotMode_change_values(float quat[4], float eul[3], float axis[3],
float *angle, short oldMode, short newMode);
Modified: trunk/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/armature.c 2012-01-17
13:26:59 UTC (rev 43449)
+++ trunk/blender/source/blender/blenkernel/intern/armature.c 2012-01-17
13:30:20 UTC (rev 43450)
@@ -590,7 +590,7 @@
/* ************ Armature Deform ******************* */
typedef struct bPoseChanDeform {
- Mat4 *b_bone_mats;
+ Mat4 *b_bone_mats;
DualQuat *dual_quat;
DualQuat *b_bone_dual_quats;
} bPoseChanDeform;
@@ -1123,66 +1123,183 @@
copy_v3_v3(outloc, nLocMat[3]);
}
-/* Convert Pose-Space Matrix to Bone-Space Matrix
- * NOTE: this cannot be used to convert to pose-space transforms of the
supplied
- * pose-channel into its local space (i.e. 'visual'-keyframing)
+/* Construct the matrices (rot/scale and loc) to apply the PoseChannels into
the armature (object) space.
+ * I.e. (roughly) the "pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)"
in the
+ * pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) *
chan_mat(b)
+ * ...function.
+ *
+ * This allows to get the transformations of a bone in its object space,
*before* constraints (and IK)
+ * get applied (used by pose evaluation code).
+ * And reverse: to find pchan transformations needed to place a bone at a
given loc/rot/scale
+ * in object space (used by interactive transform, and snapping code).
+ *
+ * Note that, with the HINGE/NO_SCALE/NO_LOCAL_LOCATION options, the location
matrix
+ * will differ from the rotation/scale matrix...
+ *
+ * NOTE: This cannot be used to convert to pose-space transforms of the
supplied
+ * pose-channel into its local space (i.e. 'visual'-keyframing).
+ * (note: I don't understand that, so I keep it :p --mont29).
*/
-void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float
outmat[][4])
+void pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float
loc_mat[][4])
{
- float pc_trans[4][4], inv_trans[4][4];
- float pc_posemat[4][4], inv_posemat[4][4];
- float pose_mat[4][4];
+ Bone *bone, *parbone;
+ bPoseChannel *parchan;
- /* paranoia: prevent crashes with no pose-channel supplied */
- if (pchan==NULL) return;
+ /* set up variables for quicker access below */
+ bone= pchan->bone;
+ parbone= bone->parent;
+ parchan= pchan->parent;
- /* default flag */
- if((pchan->bone->flag & BONE_NO_LOCAL_LOCATION)==0) {
- /* get the inverse matrix of the pchan's transforms */
- switch(pchan->rotmode) {
- case ROT_MODE_QUAT:
- loc_quat_size_to_mat4(pc_trans, pchan->loc,
pchan->quat, pchan->size);
- break;
- case ROT_MODE_AXISANGLE:
- loc_axisangle_size_to_mat4(pc_trans, pchan->loc,
pchan->rotAxis, pchan->rotAngle, pchan->size);
- break;
- default: /* euler */
- loc_eul_size_to_mat4(pc_trans, pchan->loc, pchan->eul,
pchan->size);
+ if(parchan) {
+ float offs_bone[4][4]; /* yoffs(b-1) + root(b) + bonemat(b). */
+
+ /* Bone transform itself. */
+ copy_m4_m3(offs_bone, bone->bone_mat);
+
+ /* The bone's root offset (is in the parent's coordinate
system). */
+ copy_v3_v3(offs_bone[3], bone->head);
+
+ /* Get the length translation of parent (length along y axis).
*/
+ offs_bone[3][1]+= parbone->length;
+
+ /* Compose the rotscale matrix for this bone. */
+ if((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) {
+ /* Parent rest rotation and scale. */
+ mult_m4_m4m4(rotscale_mat, parbone->arm_mat, offs_bone);
}
+ else if(bone->flag & BONE_HINGE) {
+ /* Parent rest rotation and pose scale. */
+ float tmat[4][4], tscale[3];
- copy_m4_m4(pose_mat, pchan->pose_mat);
+ /* Extract the scale of the parent pose matrix. */
+ mat4_to_size(tscale, parchan->pose_mat);
+ size_to_mat4(tmat, tscale);
+
+ /* Applies the parent pose scale to the rest matrix. */
+ mult_m4_m4m4(tmat, tmat, parbone->arm_mat);
+
+ mult_m4_m4m4(rotscale_mat, tmat, offs_bone);
+ }
+ else if(bone->flag & BONE_NO_SCALE) {
+ /* Parent pose rotation and rest scale (i.e. no
scaling). */
+ float tmat[4][4];
+ copy_m4_m4(tmat, parchan->pose_mat);
+ normalize_m4(tmat);
+ mult_m4_m4m4(rotscale_mat, tmat, offs_bone);
+ }
+ else
+ mult_m4_m4m4(rotscale_mat, parchan->pose_mat,
offs_bone);
+
+# if 1
+ /* Compose the loc matrix for this bone. */
+ /* NOTE: That version deos not modify bone's loc when
HINGE/NO_SCALE options are set. */
+
+ /* In this case, use the object's space *orientation*. */
+ if(bone->flag & BONE_NO_LOCAL_LOCATION) {
+ /* XXX I'm sure that code can be simplified! */
+ float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4],
tmat3[3][3];
+ unit_m4(bone_loc);
+ unit_m4(loc_mat);
+ unit_m4(tmat4);
+
+ mul_v3_m4v3(bone_loc[3], parchan->pose_mat,
offs_bone[3]);
+
+ unit_m3(bone_rotscale);
+ copy_m3_m4(tmat3, parchan->pose_mat);
+ mul_m3_m3m3(bone_rotscale, tmat3, bone_rotscale);
+
+ copy_m4_m3(tmat4, bone_rotscale);
+ mult_m4_m4m4(loc_mat, bone_loc, tmat4);
+ }
+ /* Those flags do not affect position, use plain parent
transform space! */
+ else if(bone->flag & (BONE_HINGE|BONE_NO_SCALE)) {
+ mult_m4_m4m4(loc_mat, parchan->pose_mat, offs_bone);
+ }
+ /* Else (i.e. default, usual case), just use the same matrix
for rotation/scaling, and location. */
+ else
+ copy_m4_m4(loc_mat, rotscale_mat);
+# endif
+# if 0
+ /* Compose the loc matrix for this bone. */
+ /* NOTE: That version modifies bone's loc when HINGE/NO_SCALE
options are set. */
+
+ /* In these cases we need to compute location separately */
+ if(bone->flag &
(BONE_HINGE|BONE_NO_SCALE|BONE_NO_LOCAL_LOCATION)) {
+ float bone_loc[4][4], bone_rotscale[3][3], tmat4[4][4],
tmat3[3][3];
+ unit_m4(bone_loc);
+ unit_m4(loc_mat);
+ unit_m4(tmat4);
+
+ mul_v3_m4v3(bone_loc[3], parchan->pose_mat,
offs_bone[3]);
+
+ /* "No local location" is not transformed by bone
matrix. */
+ /* This only affects orientations (rotations), as scale
is always 1.0 here. */
+ if(bone->flag & BONE_NO_LOCAL_LOCATION)
+ unit_m3(bone_rotscale);
+ else
+ /* We could also use bone->bone_mat directly,
here... */
+ copy_m3_m4(bone_rotscale, offs_bone);
+
+ if(bone->flag & BONE_HINGE) {
+ copy_m3_m4(tmat3, parbone->arm_mat);
+ /* for hinge-only, we use armature *rotation*,
but pose mat *scale*! */
+ if(!(bone->flag & BONE_NO_SCALE)) {
+ float size[3], tsmat[3][3];
+ mat4_to_size(size, parchan->pose_mat);
+ size_to_mat3(tsmat, size);
+ mul_m3_m3m3(tmat3, tsmat, tmat3);
+ }
+ mul_m3_m3m3(bone_rotscale, tmat3,
bone_rotscale);
+ }
+ else if(bone->flag & BONE_NO_SCALE) {
+ /* For no-scale only, normalized parent pose
mat is enough! */
+ copy_m3_m4(tmat3, parchan->pose_mat);
+ normalize_m3(tmat3);
+ mul_m3_m3m3(bone_rotscale, tmat3,
bone_rotscale);
+ }
+ /* NO_LOCAL_LOCATION only. */
+ else {
+ copy_m3_m4(tmat3, parchan->pose_mat);
+ mul_m3_m3m3(bone_rotscale, tmat3,
bone_rotscale);
+ }
+
+ copy_m4_m3(tmat4, bone_rotscale);
+ mult_m4_m4m4(loc_mat, bone_loc, tmat4);
+ }
+ /* Else, just use the same matrix for rotation/scaling, and
location. */
+ else
+ copy_m4_m4(loc_mat, rotscale_mat);
+# endif
}
+ /* Root bones. */
else {
- /* local location, this is not default, different calculation
- * note: only tested for location with pose bone snapping.
- * If this is not useful in other cases the
BONE_NO_LOCAL_LOCATION
- * case may have to be split into its own function. */
- unit_m4(pc_trans);
- copy_v3_v3(pc_trans[3], pchan->loc);
+ /* Rotation/scaling. */
+ copy_m4_m4(rotscale_mat, pchan->bone->arm_mat);
+ /* Translation. */
+ if(pchan->bone->flag & BONE_NO_LOCAL_LOCATION) {
+ /* Translation of arm_mat, without the rotation. */
+ unit_m4(loc_mat);
+ copy_v3_v3(loc_mat[3], pchan->bone->arm_mat[3]);
+ }
+ else
+ copy_m4_m4(loc_mat, rotscale_mat);
+ }
+}
- /* use parents rotation/scale space + own absolute position */
- if(pchan->parent) copy_m4_m4(pose_mat,
pchan->parent->pose_mat);
- else unit_m4(pose_mat);
+/* Convert Pose-Space Matrix to Bone-Space Matrix.
+ * NOTE: this cannot be used to convert to pose-space transforms of the
supplied
+ * pose-channel into its local space (i.e. 'visual'-keyframing)
+ */
+void armature_mat_pose_to_bone(bPoseChannel *pchan, float inmat[][4], float
outmat[][4])
+{
+ float rotscale_mat[4][4], loc_mat[4][4];
- copy_v3_v3(pose_mat[3], pchan->pose_mat[3]);
- }
+ pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
+ invert_m4(rotscale_mat);
+ invert_m4(loc_mat);
-
- invert_m4_m4(inv_trans, pc_trans);
-
- /* Remove the pchan's transforms from it's pose_mat.
- * This should leave behind the effects of restpose +
- * parenting + constraints
- */
- mult_m4_m4m4(pc_posemat, pose_mat, inv_trans);
-
- /* get the inverse of the leftovers so that we can remove
- * that component from the supplied matrix
- */
- invert_m4_m4(inv_posemat, pc_posemat);
-
- /* get the new matrix */
- mult_m4_m4m4(outmat, inv_posemat, inmat);
+ mult_m4_m4m4(outmat, rotscale_mat, inmat);
+ mul_v3_m4v3(outmat[3], loc_mat, inmat[3]);
}
/* Convert Pose-Space Location to Bone-Space Location
@@ -2263,98 +2380,30 @@
*/
void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float
ctime, int do_extra)
{
- Bone *bone, *parbone;
- bPoseChannel *parchan;
- float vec[3];
-
- /* set up variables for quicker access below */
- bone= pchan->bone;
- parbone= bone->parent;
- parchan= pchan->parent;
-
- /* this gives a chan_mat with actions (ipos) results */
@@ Diff output truncated at 10240 characters. @@
_______________________________________________
Bf-blender-cvs mailing list
Bf-blender-cvs@blender.org
http://lists.blender.org/mailman/listinfo/bf-blender-cvs
