void env_rotate_scene(Render *re, float mat[4][4], int do_rotate)
{
GroupObject *go;
ObjectRen *obr;
ObjectInstanceRen *obi;
LampRen *lar = NULL;
HaloRen *har = NULL;
float imat[3][3], mat_inverse[4][4], smat[4][4], tmat[4][4], cmat[3][3], tmpmat[4][4];
int a;
if (do_rotate == 0) {
invert_m4_m4(tmat, mat);
copy_m3_m4(imat, tmat);
copy_m4_m4(mat_inverse, mat);
}
else {
copy_m4_m4(tmat, mat);
copy_m3_m4(imat, mat);
invert_m4_m4(mat_inverse, tmat);
}
for (obi = re->instancetable.first; obi; obi = obi->next) {
/* append or set matrix depending on dupli */
if (obi->flag & R_DUPLI_TRANSFORMED) {
copy_m4_m4(tmpmat, obi->mat);
mul_m4_m4m4(obi->mat, tmat, tmpmat);
}
else if (do_rotate == 1)
copy_m4_m4(obi->mat, tmat);
else
unit_m4(obi->mat);
copy_m3_m4(cmat, obi->mat);
invert_m3_m3(obi->nmat, cmat);
transpose_m3(obi->nmat);
/* indicate the renderer has to use transform matrices */
if (do_rotate == 0)
obi->flag &= ~R_ENV_TRANSFORMED;
else {
obi->flag |= R_ENV_TRANSFORMED;
copy_m4_m4(obi->imat, mat_inverse);
}
}
for (obr = re->objecttable.first; obr; obr = obr->next) {
for (a = 0; a < obr->tothalo; a++) {
if ((a & 255) == 0) har = obr->bloha[a >> 8];
else har++;
mul_m4_v3(tmat, har->co);
}
/* imat_ren is needed for correct texture coordinates */
mul_m4_m4m4(obr->ob->imat_ren, re->viewmat, obr->ob->obmat);
invert_m4(obr->ob->imat_ren);
}
/* Meta object density, brute force for now
* (might be good enough anyway, don't need huge number of metaobs to model volumetric objects */
static float metadensity(Object *ob, const float co[3])
{
float mat[4][4], imat[4][4], dens = 0.f;
MetaBall *mb = (MetaBall *)ob->data;
MetaElem *ml;
/* transform co to meta-element */
float tco[3] = {co[0], co[1], co[2]};
mult_m4_m4m4(mat, R.viewmat, ob->obmat);
invert_m4_m4(imat, mat);
mul_m4_v3(imat, tco);
for (ml = mb->elems.first; ml; ml = ml->next) {
float bmat[3][3], dist2;
/* element rotation transform */
float tp[3] = {ml->x - tco[0], ml->y - tco[1], ml->z - tco[2]};
quat_to_mat3(bmat, ml->quat);
transpose_m3(bmat); /* rot.only, so inverse == transpose */
mul_m3_v3(bmat, tp);
/* MB_BALL default */
switch (ml->type) {
case MB_ELIPSOID:
tp[0] /= ml->expx, tp[1] /= ml->expy, tp[2] /= ml->expz;
break;
case MB_CUBE:
tp[2] = (tp[2] > ml->expz) ? (tp[2] - ml->expz) : ((tp[2] < -ml->expz) ? (tp[2] + ml->expz) : 0.f);
/* no break, xy as plane */
case MB_PLANE:
tp[1] = (tp[1] > ml->expy) ? (tp[1] - ml->expy) : ((tp[1] < -ml->expy) ? (tp[1] + ml->expy) : 0.f);
/* no break, x as tube */
case MB_TUBE:
tp[0] = (tp[0] > ml->expx) ? (tp[0] - ml->expx) : ((tp[0] < -ml->expx) ? (tp[0] + ml->expx) : 0.f);
}
/* ml->rad2 is not set */
dist2 = 1.0f - (dot_v3v3(tp, tp) / (ml->rad * ml->rad));
if (dist2 > 0.f)
dens += (ml->flag & MB_NEGATIVE) ? -ml->s * dist2 * dist2 * dist2 : ml->s * dist2 * dist2 * dist2;
}
dens -= mb->thresh;
return (dens < 0.f) ? 0.f : dens;
}
static void rigid_add_half_edge_to_rhs(LaplacianSystem *sys, EditVert *v1, EditVert *v2, float w)
{
/* formula (8) */
float Rsum[3][3], rhs[3];
if (sys->vpinned[v1->tmp.l])
return;
add_m3_m3m3(Rsum, sys->rigid.R[v1->tmp.l], sys->rigid.R[v2->tmp.l]);
transpose_m3(Rsum);
sub_v3_v3v3(rhs, sys->rigid.origco[v1->tmp.l], sys->rigid.origco[v2->tmp.l]);
mul_m3_v3(Rsum, rhs);
mul_v3_fl(rhs, 0.5f);
mul_v3_fl(rhs, w);
add_v3_v3(sys->rigid.rhs[v1->tmp.l], rhs);
}
/* called from within the core BKE_pose_where_is loop, all animsystems and constraints
* were executed & assigned. Now as last we do an IK pass */
static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
{
float R_parmat[3][3], identity[3][3];
float iR_parmat[3][3];
float R_bonemat[3][3];
float goalrot[3][3], goalpos[3];
float rootmat[4][4], imat[4][4];
float goal[4][4], goalinv[4][4];
float irest_basis[3][3], full_basis[3][3];
float end_pose[4][4], world_pose[4][4];
float length, basis[3][3], rest_basis[3][3], start[3], *ikstretch = NULL;
float resultinf = 0.0f;
int a, flag, hasstretch = 0, resultblend = 0;
bPoseChannel *pchan;
IK_Segment *seg, *parent, **iktree, *iktarget;
IK_Solver *solver;
PoseTarget *target;
bKinematicConstraint *data, *poleangledata = NULL;
Bone *bone;
if (tree->totchannel == 0)
return;
iktree = MEM_mallocN(sizeof(void *) * tree->totchannel, "ik tree");
for (a = 0; a < tree->totchannel; a++) {
pchan = tree->pchan[a];
bone = pchan->bone;
/* set DoF flag */
flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP))
flag |= IK_XDOF;
if (!(pchan->ikflag & BONE_IK_NO_YDOF) && !(pchan->ikflag & BONE_IK_NO_YDOF_TEMP))
flag |= IK_YDOF;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag & BONE_IK_NO_ZDOF_TEMP))
flag |= IK_ZDOF;
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
flag |= IK_TRANS_YDOF;
hasstretch = 1;
}
seg = iktree[a] = IK_CreateSegment(flag);
/* find parent */
if (a == 0)
parent = NULL;
else
parent = iktree[tree->parent[a]];
IK_SetParent(seg, parent);
/* get the matrix that transforms from prevbone into this bone */
copy_m3_m4(R_bonemat, pchan->pose_mat);
/* gather transformations for this IK segment */
if (pchan->parent)
copy_m3_m4(R_parmat, pchan->parent->pose_mat);
else
unit_m3(R_parmat);
/* bone offset */
if (pchan->parent && (a > 0))
sub_v3_v3v3(start, pchan->pose_head, pchan->parent->pose_tail);
else
/* only root bone (a = 0) has no parent */
start[0] = start[1] = start[2] = 0.0f;
/* change length based on bone size */
length = bone->length * len_v3(R_bonemat[1]);
/* compute rest basis and its inverse */
copy_m3_m3(rest_basis, bone->bone_mat);
copy_m3_m3(irest_basis, bone->bone_mat);
transpose_m3(irest_basis);
/* compute basis with rest_basis removed */
invert_m3_m3(iR_parmat, R_parmat);
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);
if (pchan->ikflag & BONE_IK_XLIMIT)
IK_SetLimit(seg, IK_X, pchan->limitmin[0], pchan->limitmax[0]);
if (pchan->ikflag & BONE_IK_YLIMIT)
IK_SetLimit(seg, IK_Y, pchan->limitmin[1], pchan->limitmax[1]);
if (pchan->ikflag & BONE_IK_ZLIMIT)
IK_SetLimit(seg, IK_Z, pchan->limitmin[2], pchan->limitmax[2]);
IK_SetStiffness(seg, IK_X, pchan->stiffness[0]);
IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]);
IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]);
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
const float ikstretch = pchan->ikstretch * pchan->ikstretch;
/* this function does its own clamping */
IK_SetStiffness(seg, IK_TRANS_Y, 1.0f - ikstretch);
IK_SetLimit(seg, IK_TRANS_Y, IK_STRETCH_STIFF_MIN, IK_STRETCH_STIFF_MAX);
}
}
solver = IK_CreateSolver(iktree[0]);
/* set solver goals */
/* first set the goal inverse transform, assuming the root of tree was done ok! */
pchan = tree->pchan[0];
if (pchan->parent) {
/* transform goal by parent mat, so this rotation is not part of the
* segment's basis. otherwise rotation limits do not work on the
* local transform of the segment itself. */
copy_m4_m4(rootmat, pchan->parent->pose_mat);
/* However, we do not want to get (i.e. reverse) parent's scale, as it generates [#31008]
* kind of nasty bugs... */
normalize_m4(rootmat);
}
else
unit_m4(rootmat);
copy_v3_v3(rootmat[3], pchan->pose_head);
mul_m4_m4m4(imat, ob->obmat, rootmat);
invert_m4_m4(goalinv, imat);
for (target = tree->targets.first; target; target = target->next) {
float polepos[3];
int poleconstrain = 0;
data = (bKinematicConstraint *)target->con->data;
/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
* strictly speaking, it is a posechannel)
*/
BKE_constraint_target_matrix_get(scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
/* and set and transform goal */
mul_m4_m4m4(goal, goalinv, rootmat);
copy_v3_v3(goalpos, goal[3]);
copy_m3_m4(goalrot, goal);
normalize_m3(goalrot);
/* same for pole vector target */
if (data->poletar) {
BKE_constraint_target_matrix_get(scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
if (data->flag & CONSTRAINT_IK_SETANGLE) {
/* don't solve IK when we are setting the pole angle */
break;
}
else {
mul_m4_m4m4(goal, goalinv, rootmat);
copy_v3_v3(polepos, goal[3]);
poleconstrain = 1;
/* for pole targets, we blend the result of the ik solver
* instead of the target position, otherwise we can't get
* a smooth transition */
resultblend = 1;
resultinf = target->con->enforce;
if (data->flag & CONSTRAINT_IK_GETANGLE) {
poleangledata = data;
data->flag &= ~CONSTRAINT_IK_GETANGLE;
}
}
}
/* do we need blending? */
if (!resultblend && target->con->enforce != 1.0f) {
float q1[4], q2[4], q[4];
float fac = target->con->enforce;
float mfac = 1.0f - fac;
pchan = tree->pchan[target->tip];
/* end effector in world space */
copy_m4_m4(end_pose, pchan->pose_mat);
copy_v3_v3(end_pose[3], pchan->pose_tail);
mul_serie_m4(world_pose, goalinv, ob->obmat, end_pose, NULL, NULL, NULL, NULL, NULL);
/* blend position */
goalpos[0] = fac * goalpos[0] + mfac * world_pose[3][0];
goalpos[1] = fac * goalpos[1] + mfac * world_pose[3][1];
goalpos[2] = fac * goalpos[2] + mfac * world_pose[3][2];
/* blend rotation */
mat3_to_quat(q1, goalrot);
mat4_to_quat(q2, world_pose);
interp_qt_qtqt(q, q1, q2, mfac);
quat_to_mat3(goalrot, q);
}
iktarget = iktree[target->tip];
if ((data->flag & CONSTRAINT_IK_POS) && data->weight != 0.0f) {
if (poleconstrain)
IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
polepos, data->poleangle, (poleangledata == data));
IK_SolverAddGoal(solver, iktarget, goalpos, data->weight);
}
if ((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0f))
if ((data->flag & CONSTRAINT_IK_AUTO) == 0)
IK_SolverAddGoalOrientation(solver, iktarget, goalrot,
data->orientweight);
}
/* solve */
IK_Solve(solver, 0.0f, tree->iterations);
if (poleangledata)
poleangledata->poleangle = IK_SolverGetPoleAngle(solver);
IK_FreeSolver(solver);
/* gather basis changes */
tree->basis_change = MEM_mallocN(sizeof(float[3][3]) * tree->totchannel, "ik basis change");
if (hasstretch)
ikstretch = MEM_mallocN(sizeof(float) * tree->totchannel, "ik stretch");
for (a = 0; a < tree->totchannel; a++) {
IK_GetBasisChange(iktree[a], tree->basis_change[a]);
if (hasstretch) {
/* have to compensate for scaling received from parent */
float parentstretch, stretch;
pchan = tree->pchan[a];
parentstretch = (tree->parent[a] >= 0) ? ikstretch[tree->parent[a]] : 1.0f;
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
float trans[3], length;
IK_GetTranslationChange(iktree[a], trans);
length = pchan->bone->length * len_v3(pchan->pose_mat[1]);
ikstretch[a] = (length == 0.0f) ? 1.0f : (trans[1] + length) / length;
}
else
ikstretch[a] = 1.0;
stretch = (parentstretch == 0.0f) ? 1.0f : ikstretch[a] / parentstretch;
mul_v3_fl(tree->basis_change[a][0], stretch);
mul_v3_fl(tree->basis_change[a][1], stretch);
mul_v3_fl(tree->basis_change[a][2], stretch);
}
if (resultblend && resultinf != 1.0f) {
unit_m3(identity);
blend_m3_m3m3(tree->basis_change[a], identity,
tree->basis_change[a], resultinf);
}
IK_FreeSegment(iktree[a]);
}
MEM_freeN(iktree);
if (ikstretch) MEM_freeN(ikstretch);
}
PyObject* BL_ArmatureChannel::py_attr_get_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
bPoseChannel* pchan = static_cast<bPoseChannel*>(self_v);
// decompose the pose matrix in euler rotation
float rest_mat[3][3];
float pose_mat[3][3];
float joint_mat[3][3];
float joints[3];
float norm;
double sa, ca;
// get rotation in armature space
copy_m3_m4(pose_mat, pchan->pose_mat);
normalize_m3(pose_mat);
if (pchan->parent) {
// bone has a parent, compute the rest pose of the bone taking actual pose of parent
mult_m3_m3m4(rest_mat, pchan->parent->pose_mat, pchan->bone->bone_mat);
normalize_m3(rest_mat);
} else {
// otherwise, the bone matrix in armature space is the rest pose
copy_m3_m4(rest_mat, pchan->bone->arm_mat);
}
// remove the rest pose to get the joint movement
transpose_m3(rest_mat);
mul_m3_m3m3(joint_mat, rest_mat, pose_mat);
joints[0] = joints[1] = joints[2] = 0.f;
// returns a 3 element list that gives corresponding joint
int flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF))
flag |= 1;
if (!(pchan->ikflag & BONE_IK_NO_YDOF))
flag |= 2;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
flag |= 4;
switch (flag) {
case 0: // fixed joint
break;
case 1: // X only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[1] = joints[2] = 0.f;
break;
case 2: // Y only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = joints[2] = 0.f;
break;
case 3: // X+Y
mat3_to_eulO( joints, EULER_ORDER_ZYX,joint_mat);
joints[2] = 0.f;
break;
case 4: // Z only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = joints[1] = 0.f;
break;
case 5: // X+Z
// decompose this as an equivalent rotation vector in X/Z plane
joints[0] = joint_mat[1][2];
joints[2] = -joint_mat[1][0];
norm = normalize_v3(joints);
if (norm < FLT_EPSILON) {
norm = (joint_mat[1][1] < 0.f) ? M_PI : 0.f;
} else {
norm = acos(joint_mat[1][1]);
}
mul_v3_fl(joints, norm);
break;
case 6: // Y+Z
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = 0.f;
break;
case 7: // X+Y+Z
// equivalent axis
joints[0] = (joint_mat[1][2]-joint_mat[2][1])*0.5f;
joints[1] = (joint_mat[2][0]-joint_mat[0][2])*0.5f;
joints[2] = (joint_mat[0][1]-joint_mat[1][0])*0.5f;
sa = len_v3(joints);
ca = (joint_mat[0][0]+joint_mat[1][1]+joint_mat[1][1]-1.0f)*0.5f;
if (sa > FLT_EPSILON) {
norm = atan2(sa,ca)/sa;
} else {
if (ca < 0.0) {
norm = M_PI;
mul_v3_fl(joints,0.f);
if (joint_mat[0][0] > 0.f) {
joints[0] = 1.0f;
} else if (joint_mat[1][1] > 0.f) {
joints[1] = 1.0f;
} else {
joints[2] = 1.0f;
}
} else {
norm = 0.0;
}
}
mul_v3_fl(joints,norm);
break;
}
return Vector_CreatePyObject(joints, 3, Py_NEW, NULL);
}
