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@ -90,6 +90,7 @@ typedef void (*ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned in
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// one structure for each target in the scene
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struct IK_Target {
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const struct EvaluationContext *eval_ctx;
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struct Scene *blscene;
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iTaSC::MovingFrame* target;
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iTaSC::ConstraintSet* constraint;
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@ -107,6 +108,7 @@ struct IK_Target {
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float eeRest[4][4]; //end effector initial pose relative to armature
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IK_Target() {
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eval_ctx = NULL;
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blscene = NULL;
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target = NULL;
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constraint = NULL;
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@ -157,6 +159,7 @@ struct IK_Channel {
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};
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struct IK_Scene {
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const struct EvaluationContext *eval_ctx;
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struct Scene *blscene;
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IK_Scene* next;
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int numchan; // number of channel in pchan
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@ -177,6 +180,7 @@ struct IK_Scene {
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std::vector<IK_Target*> targets;
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IK_Scene() {
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eval_ctx = NULL;
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blscene = NULL;
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next = NULL;
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channels = NULL;
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@ -542,7 +546,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot)
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}
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}
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static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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{
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IK_Target *target = (IK_Target *)param;
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// compute next target position
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@ -550,7 +554,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
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bConstraint *constraint = (bConstraint *)target->blenderConstraint;
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float tarmat[4][4];
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BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
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BKE_constraint_target_matrix_get(target->eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
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// rootmat contains the target pose in world coordinate
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// if enforce is != 1.0, blend the target position with the end effector position
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@ -577,7 +581,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
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return true;
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}
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static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
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{
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IK_Scene *ikscene = (IK_Scene *)param;
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// compute next armature base pose
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@ -619,7 +623,7 @@ static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC:
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IK_Channel &rootchan = ikscene->channels[0];
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// get polar target matrix in world space
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BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
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BKE_constraint_target_matrix_get(ikscene->eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
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// convert to armature space
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mul_m4_m4m4(polemat, imat, mat);
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// get the target in world space (was computed before as target object are defined before base object)
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@ -1082,6 +1086,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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ikscene = new IK_Scene;
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ikscene->blscene = blscene;
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ikscene->eval_ctx = eval_ctx;
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arm = new iTaSC::Armature();
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scene = new iTaSC::Scene();
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ikscene->channels = new IK_Channel[tree->totchannel];
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@ -1397,7 +1402,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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// we can now add the armature
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// the armature is based on a moving frame.
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// initialize with the correct position in case there is no cache
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base_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
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base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
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ikscene->base = new iTaSC::MovingFrame(initPose);
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ikscene->base->setCallback(base_callback, ikscene);
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std::string armname;
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@ -1439,6 +1444,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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for (t = 0; t < ikscene->targets.size(); t++) {
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IK_Target *iktarget = ikscene->targets[t];
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iktarget->blscene = blscene;
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iktarget->eval_ctx = eval_ctx;
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condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
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pchan = tree->pchan[iktarget->channel];
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unsigned int controltype, bonecnt;
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@ -1458,7 +1464,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
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mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat);
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iktarget->eeBlend = (!ikscene->polarConstraint && condata->type == CONSTRAINT_IK_COPYPOSE) ? true : false;
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// use target_callback to make sure the initPose includes enforce coefficient
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target_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
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target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
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iktarget->target = new iTaSC::MovingFrame(initPose);
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iktarget->target->setCallback(target_callback, iktarget);
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ret = scene->addObject(iktarget->targetName, iktarget->target);
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@ -1647,7 +1653,7 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
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}
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}
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// don't cache if we are reiterating because we don't want to destroy the cache unnecessarily
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ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation);
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ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation);
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if (reiterate) {
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// how many times do we reiterate?
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for (i = 0; i < ikparam->numiter; i++) {
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@ -1656,11 +1662,11 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
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{
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break;
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}
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ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation);
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ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation);
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}
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if (simulation) {
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// one more fake iteration to cache
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ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true);
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ikscene->scene->update(timestamp, 0.0, 1, true, true, true);
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}
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}
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// compute constraint error
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