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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.

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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 : 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()).
This commit is contained in:
Bastien Montagne
2012-01-17 13:30:20 +00:00
parent f3e39fc8c9
commit 25e3b647b1
4 changed files with 241 additions and 160 deletions
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4
source/blender/blenkernel/BKE_armature.h
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@@ -114,6 +114,10 @@ void pchan_apply_mat4(struct bPoseChannel *pchan, float mat[][4], short use_coma
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);

334
source/blender/blenkernel/intern/armature.c
View File

@@ -590,7 +590,7 @@ Mat4 *b_bone_spline_setup(bPoseChannel *pchan, int rest)
/* ************ 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 @@ void armature_loc_world_to_pose(Object *ob, float *inloc, float *outloc)
copy_v3_v3(outloc, nLocMat[3]);
}
/* Convert Pose-Space Matrix to Bone-Space Matrix
/* 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 pchan_to_pose_mat(bPoseChannel *pchan, float rotscale_mat[][4], float loc_mat[][4])
{
Bone *bone, *parbone;
bPoseChannel *parchan;
/* set up variables for quicker access below */
bone= pchan->bone;
parbone= bone->parent;
parchan= pchan->parent;
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];
/* 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 {
/* 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);
}
}
/* 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)
* 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 pc_trans[4][4], inv_trans[4][4];
float pc_posemat[4][4], inv_posemat[4][4];
float pose_mat[4][4];
float rotscale_mat[4][4], loc_mat[4][4];
/* paranoia: prevent crashes with no pose-channel supplied */
if (pchan==NULL) return;
pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
invert_m4(rotscale_mat);
invert_m4(loc_mat);
/* 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);
}
copy_m4_m4(pose_mat, pchan->pose_mat);
}
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);
/* 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);
copy_v3_v3(pose_mat[3], pchan->pose_mat[3]);
}
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_tail(bPoseChannel *pchan)
*/
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 */
if(do_extra) pchan_calc_mat(pchan);
else unit_m4(pchan->chan_mat);
/* This gives a chan_mat with actions (ipos) results. */
if(do_extra)
pchan_calc_mat(pchan);
else
unit_m4(pchan->chan_mat);
/* construct the posemat based on PoseChannels, that we do before applying constraints */
/* Construct the posemat based on PoseChannels, that we do before applying constraints. */
/* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) */
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 matrix for this bone */
if((bone->flag & BONE_HINGE) && (bone->flag & BONE_NO_SCALE)) { // uses restposition rotation, but actual position
float tmat[4][4];
/* the rotation of the parent restposition */
copy_m4_m4(tmat, parbone->arm_mat);
mul_serie_m4(pchan->pose_mat, tmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL);
}
else if(bone->flag & BONE_HINGE) { // same as above but apply parent scale
float tmat[4][4];
/* apply the parent matrix scale */
float tsmat[4][4], tscale[3];
/* the rotation of the parent restposition */
copy_m4_m4(tmat, parbone->arm_mat);
/* extract the scale of the parent matrix */
mat4_to_size(tscale, parchan->pose_mat);
size_to_mat4(tsmat, tscale);
mult_m4_m4m4(tmat, tsmat, tmat);
mul_serie_m4(pchan->pose_mat, tmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL);
}
else if(bone->flag & BONE_NO_SCALE) {
float orthmat[4][4];
/* do transform, with an ortho-parent matrix */
copy_m4_m4(orthmat, parchan->pose_mat);
normalize_m4(orthmat);
mul_serie_m4(pchan->pose_mat, orthmat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL);
}
else
mul_serie_m4(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL);
/* in these cases we need to compute location separately */
if(bone->flag & (BONE_HINGE|BONE_NO_SCALE|BONE_NO_LOCAL_LOCATION)) {
float bone_loc[3], chan_loc[3];
mul_v3_m4v3(bone_loc, parchan->pose_mat, offs_bone[3]);
copy_v3_v3(chan_loc, pchan->chan_mat[3]);
/* no local location is not transformed by bone matrix */
if(!(bone->flag & BONE_NO_LOCAL_LOCATION))
mul_mat3_m4_v3(offs_bone, chan_loc);
/* for hinge we use armature instead of pose mat */
if(bone->flag & BONE_HINGE) mul_mat3_m4_v3(parbone->arm_mat, chan_loc);
else mul_mat3_m4_v3(parchan->pose_mat, chan_loc);
add_v3_v3v3(pchan->pose_mat[3], bone_loc, chan_loc);
}
{
float rotscale_mat[4][4], loc_mat[4][4];
pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
/* Rotation and scale. */
mult_m4_m4m4(pchan->pose_mat, rotscale_mat, pchan->chan_mat);
/* Location. */
mul_v3_m4v3(pchan->pose_mat[3], loc_mat, pchan->chan_mat[3]);
}
else {
mult_m4_m4m4(pchan->pose_mat, bone->arm_mat, pchan->chan_mat);
/* optional location without arm_mat rotation */
if(bone->flag & BONE_NO_LOCAL_LOCATION)
add_v3_v3v3(pchan->pose_mat[3], bone->arm_mat[3], pchan->chan_mat[3]);
/* only rootbones get the cyclic offset (unless user doesn't want that) */
if ((bone->flag & BONE_NO_CYCLICOFFSET) == 0)
/* Only rootbones get the cyclic offset (unless user doesn't want that). */
/* XXX That could be a problem for snapping and other "reverse transform" features... */
if(!pchan->parent) {
if((pchan->bone->flag & BONE_NO_CYCLICOFFSET) == 0)
add_v3_v3(pchan->pose_mat[3], ob->pose->cyclic_offset);
}
if(do_extra) {
#if 0 /* XXX OLD ANIMSYS, NLASTRIPS ARE NO LONGER USED */
@@ -2365,6 +2414,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti
/* Do constraints */
if (pchan->constraints.first) {
bConstraintOb *cob;
float vec[3];
/* make a copy of location of PoseChannel for later */
copy_v3_v3(vec, pchan->pose_mat[3]);
@@ -2388,7 +2438,7 @@ void where_is_pose_bone(Scene *scene, Object *ob, bPoseChannel *pchan, float cti
}
}
}
/* calculate head */
copy_v3_v3(pchan->pose_head, pchan->pose_mat[3]);
/* calculate tail */

15
source/blender/editors/space_view3d/view3d_snap.c
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@@ -505,7 +505,6 @@ static int snap_sel_to_grid(bContext *C, wmOperator *UNUSED(op))
if(pchan->bone->layer & arm->layer) {
if((pchan->bone->flag & BONE_CONNECTED)==0) {
float nLoc[3];
float inv_restmat[4][4];
/* get nearest grid point to snap to */
copy_v3_v3(nLoc, pchan->pose_mat[3]);
@@ -517,9 +516,8 @@ static int snap_sel_to_grid(bContext *C, wmOperator *UNUSED(op))
/* Back in object space... */
mul_m4_v3(ob->imat, vec);
/* get location of grid point in *rest* bone-space */
invert_m4_m4(inv_restmat, pchan->bone->arm_mat);
mul_m4_v3(inv_restmat, vec);
/* Get location of grid point in pose space. */
armature_loc_pose_to_bone(pchan, vec, vec);
/* adjust location */
if ((pchan->protectflag & OB_LOCK_LOCX)==0)
@@ -642,12 +640,9 @@ static int snap_sel_to_curs(bContext *C, wmOperator *UNUSED(op))
if(pchan->bone->flag & BONE_SELECTED) {
if(pchan->bone->layer & arm->layer) {
if((pchan->bone->flag & BONE_CONNECTED)==0) {
float inv_restmat[4][4];
/* get location of cursor in *rest* bone-space */
invert_m4_m4(inv_restmat, pchan->bone->arm_mat);
mul_m4_v3(inv_restmat, vec);
/* Get position in pchan (pose) space. */
armature_loc_pose_to_bone(pchan, vec, vec);
/* copy new position */
if ((pchan->protectflag & OB_LOCK_LOCX)==0)
pchan->loc[0]= vec[0];

48
source/blender/editors/transform/transform_conversions.c
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@@ -515,7 +515,7 @@ static short apply_targetless_ik(Object *ob)
static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, TransData *td)
{
Bone *bone= pchan->bone;
float pmat[3][3], omat[3][3], bmat[3][3];
float pmat[3][3], omat[3][3];
float cmat[3][3], tmat[3][3];
float vec[3];
@@ -569,39 +569,71 @@ static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, Tr
copy_qt_qt(td->ext->iquat, pchan->quat);
}
td->ext->rotOrder= pchan->rotmode;
/* proper way to get parent transform + own transform + constraints transform */
copy_m3_m4(omat, ob->obmat);
/* New code, using "generic" pchan_to_pose_mat(). */
{
float rotscale_mat[4][4], loc_mat[4][4];
pchan_to_pose_mat(pchan, rotscale_mat, loc_mat);
if (t->mode == TFM_TRANSLATION)
copy_m3_m4(pmat, loc_mat);
else
copy_m3_m4(pmat, rotscale_mat);
if (constraints_list_needinv(t, &pchan->constraints)) {
copy_m3_m4(tmat, pchan->constinv);
invert_m3_m3(cmat, tmat);
mul_serie_m3(td->mtx, pmat, omat, cmat, NULL,NULL,NULL,NULL,NULL);
}
else
mul_serie_m3(td->mtx, pmat, omat, NULL, NULL,NULL,NULL,NULL,NULL);
}
/* XXX Old code. Will remove it later. */
#if 0
if (ELEM(t->mode, TFM_TRANSLATION, TFM_RESIZE) && (pchan->bone->flag & BONE_NO_LOCAL_LOCATION))
unit_m3(bmat);
else
copy_m3_m3(bmat, pchan->bone->bone_mat);
if (pchan->parent) {
if(pchan->bone->flag & BONE_HINGE)
if(pchan->bone->flag & BONE_HINGE) {
copy_m3_m4(pmat, pchan->parent->bone->arm_mat);
else
if(!(pchan->bone->flag & BONE_NO_SCALE)) {
float tsize[3], tsmat[3][3];
mat4_to_size(tsize, pchan->parent->pose_mat);
size_to_mat3(tsmat, tsize);
mul_m3_m3m3(pmat, tsmat, pmat);
}
}
else {
copy_m3_m4(pmat, pchan->parent->pose_mat);
if(pchan->bone->flag & BONE_NO_SCALE)
normalize_m3(pmat);
}
if (constraints_list_needinv(t, &pchan->constraints)) {
copy_m3_m4(tmat, pchan->constinv);
invert_m3_m3(cmat, tmat);
mul_serie_m3(td->mtx, bmat, pmat, omat, cmat, NULL,NULL,NULL,NULL); // dang mulserie swaps args
mul_serie_m3(td->mtx, bmat, pmat, omat, cmat, NULL,NULL,NULL,NULL);
}
else
mul_serie_m3(td->mtx, bmat, pmat, omat, NULL,NULL,NULL,NULL,NULL); // dang mulserie swaps args
mul_serie_m3(td->mtx, bmat, pmat, omat, NULL,NULL,NULL,NULL,NULL);
}
else {
if (constraints_list_needinv(t, &pchan->constraints)) {
copy_m3_m4(tmat, pchan->constinv);
invert_m3_m3(cmat, tmat);
mul_serie_m3(td->mtx, bmat, omat, cmat, NULL,NULL,NULL,NULL,NULL); // dang mulserie swaps args
mul_serie_m3(td->mtx, bmat, omat, cmat, NULL,NULL,NULL,NULL,NULL);
}
else
mul_m3_m3m3(td->mtx, omat, bmat); // Mat3MulMat3 has swapped args!
mul_m3_m3m3(td->mtx, omat, bmat);
}
# endif
invert_m3_m3(td->smtx, td->mtx);