void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPoseChannel *pchan, float ctime)
{
while(pchan->iktree.first) {
PoseTree *tree= pchan->iktree.first;
int a;
/* stop on the first tree that isn't a standard IK chain */
if (tree->type != CONSTRAINT_TYPE_KINEMATIC)
return;
/* 4. walk over the tree for regular solving */
for(a=0; a<tree->totchannel; a++) {
if(!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag
where_is_pose_bone(scene, ob, tree->pchan[a], ctime, 1);
// tell blender that this channel was controlled by IK, it's cleared on each where_is_pose()
tree->pchan[a]->flag |= POSE_CHAIN;
}
/* 5. execute the IK solver */
execute_posetree(scene, ob, tree);
/* 6. apply the differences to the channels,
we need to calculate the original differences first */
for(a=0; a<tree->totchannel; a++)
make_dmats(tree->pchan[a]);
for(a=0; a<tree->totchannel; a++)
/* sets POSE_DONE */
where_is_ik_bone(tree->pchan[a], tree->basis_change[a]);
/* 7. and free */
BLI_remlink(&pchan->iktree, tree);
free_posetree(tree);
}
}
void AnimationExporter::sample_animation(float *v, std::vector<float> &frames, int type, Bone *bone, Object *ob_arm, bPoseChannel *pchan)
{
bPoseChannel *parchan = NULL;
bPose *pose = ob_arm->pose;
pchan = get_pose_channel(pose, bone->name);
if (!pchan)
return;
parchan = pchan->parent;
enable_fcurves(ob_arm->adt->action, bone->name);
std::vector<float>::iterator it;
for (it = frames.begin(); it != frames.end(); it++) {
float mat[4][4], ipar[4][4];
float ctime = BKE_frame_to_ctime(scene, *it);
BKE_animsys_evaluate_animdata(scene , &ob_arm->id, ob_arm->adt, ctime, ADT_RECALC_ANIM);
where_is_pose_bone(scene, ob_arm, pchan, ctime, 1);
// compute bone local mat
if (bone->parent) {
invert_m4_m4(ipar, parchan->pose_mat);
mult_m4_m4m4(mat, ipar, pchan->pose_mat);
}
else
copy_m4_m4(mat, pchan->pose_mat);
switch (type) {
case 0:
mat4_to_eul(v, mat);
break;
case 1:
mat4_to_size(v, mat);
break;
case 2:
copy_v3_v3(v, mat[3]);
break;
}
v += 3;
}
enable_fcurves(ob_arm->adt->action, NULL);
}
std::string AnimationExporter::create_4x4_source(std::vector<float> &frames , Object * ob_arm, Bone *bone , const std::string& anim_id)
{
COLLADASW::InputSemantic::Semantics semantic = COLLADASW::InputSemantic::OUTPUT;
std::string source_id = anim_id + get_semantic_suffix(semantic);
COLLADASW::Float4x4Source source(mSW);
source.setId(source_id);
source.setArrayId(source_id + ARRAY_ID_SUFFIX);
source.setAccessorCount(frames.size());
source.setAccessorStride(16);
COLLADASW::SourceBase::ParameterNameList ¶m = source.getParameterNameList();
add_source_parameters(param, semantic, false, NULL, true);
source.prepareToAppendValues();
bPoseChannel *parchan = NULL;
bPoseChannel *pchan = NULL;
bPose *pose = ob_arm->pose;
pchan = get_pose_channel(pose, bone->name);
if (!pchan)
return "";
parchan = pchan->parent;
enable_fcurves(ob_arm->adt->action, bone->name);
std::vector<float>::iterator it;
int j = 0;
for (it = frames.begin(); it != frames.end(); it++) {
float mat[4][4], ipar[4][4];
float ctime = BKE_frame_to_ctime(scene, *it);
BKE_animsys_evaluate_animdata(scene , &ob_arm->id, ob_arm->adt, ctime, ADT_RECALC_ANIM);
where_is_pose_bone(scene, ob_arm, pchan, ctime, 1);
// compute bone local mat
if (bone->parent) {
invert_m4_m4(ipar, parchan->pose_mat);
mult_m4_m4m4(mat, ipar, pchan->pose_mat);
}
else
copy_m4_m4(mat, pchan->pose_mat);
UnitConverter converter;
float outmat[4][4];
converter.mat4_to_dae(outmat,mat);
source.appendValues(outmat);
j++;
}
enable_fcurves(ob_arm->adt->action, NULL);
source.finish();
return source_id;
}
