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Cleanup: don't use Blender structs in iTaSC module.

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This commit is contained in:
Brecht Van Lommel 2018-04-12 15:59:51 +02:00
parent 9599ed3ba7
commit b92d78553b
8 changed files with 24 additions and 23 deletions
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2
intern/itasc/FixedObject.hpp
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@ -21,7 +21,7 @@ public:
int addFrame(const std::string& name, const Frame& frame); int addFrame(const std::string& name, const Frame& frame);
virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; virtual void updateCoordinates(const Timestamp& timestamp) {};
virtual int addEndEffector(const std::string& name); virtual int addEndEffector(const std::string& name);
virtual bool finalize(); virtual bool finalize();
virtual const Frame& getPose(const unsigned int frameIndex); virtual const Frame& getPose(const unsigned int frameIndex);

4
intern/itasc/MovingFrame.cpp
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@ -90,7 +90,7 @@ bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param)
return true; return true;
} }
void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) void MovingFrame::updateCoordinates(const Timestamp& timestamp)
{ {
// don't compute the velocity during substepping, it is assumed constant. // don't compute the velocity during substepping, it is assumed constant.
if (!timestamp.substep) { if (!timestamp.substep) {
@ -98,7 +98,7 @@ void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, co
if (!timestamp.reiterate) { if (!timestamp.reiterate) {
cacheAvail = popInternalFrame(timestamp.cacheTimestamp); cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
if (m_function) if (m_function)
(*m_function)(eval_ctx, timestamp, m_internalPose, m_nextPose, m_param); (*m_function)(timestamp, m_internalPose, m_nextPose, m_param);
} }
// only compute velocity if we have a previous pose // only compute velocity if we have a previous pose
if (cacheAvail && timestamp.interpolate) { if (cacheAvail && timestamp.interpolate) {

4
intern/itasc/MovingFrame.hpp
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@ -11,12 +11,10 @@
#include "UncontrolledObject.hpp" #include "UncontrolledObject.hpp"
#include <vector> #include <vector>
struct EvaluationContext;
namespace iTaSC{ namespace iTaSC{
typedef bool (*MovingFrameCallback)( typedef bool (*MovingFrameCallback)(
const struct EvaluationContext *eval_ctx,
const Timestamp& timestamp, const Timestamp& timestamp,
const Frame& _current, const Frame& _current,
Frame& _next, Frame& _next,
@ -30,7 +28,7 @@ public:
bool setFrame(const Frame& frame); bool setFrame(const Frame& frame);
bool setCallback(MovingFrameCallback _function, void* _param); bool setCallback(MovingFrameCallback _function, void* _param);
virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp); virtual void updateCoordinates(const Timestamp& timestamp);
virtual void updateKinematics(const Timestamp& timestamp); virtual void updateKinematics(const Timestamp& timestamp);
virtual void pushCache(const Timestamp& timestamp); virtual void pushCache(const Timestamp& timestamp);
virtual void initCache(Cache *_cache); virtual void initCache(Cache *_cache);

4
intern/itasc/Scene.cpp
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@ -257,7 +257,7 @@ bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Fram
return true; return true;
} }
bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
{ {
// we must have valid timestep and timestamp // we must have valid timestep and timestamp
if (timestamp < KDL::epsilon || timestep < 0.0) if (timestamp < KDL::epsilon || timestep < 0.0)
@ -316,7 +316,7 @@ bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, d
} }
} }
if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) { if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
((UncontrolledObject*)(os->object))->updateCoordinates(eval_ctx, ts); ((UncontrolledObject*)(os->object))->updateCoordinates(ts);
if (!ts.substep) { if (!ts.substep) {
// velocity of uncontrolled object remains constant during substepping // velocity of uncontrolled object remains constant during substepping
project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot(); project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot();

2
intern/itasc/Scene.hpp
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@ -39,7 +39,7 @@ public:
bool addSolver(Solver* _solver); bool addSolver(Solver* _solver);
bool addCache(Cache* _cache); bool addCache(Cache* _cache);
bool initialize(); bool initialize();
bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
bool setParam(SceneParam paramId, double value); bool setParam(SceneParam paramId, double value);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW

5
intern/itasc/UncontrolledObject.hpp
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@ -11,9 +11,6 @@
#include "eigen_types.hpp" #include "eigen_types.hpp"
#include "Object.hpp" #include "Object.hpp"
struct EvaluationContext;
namespace iTaSC{ namespace iTaSC{
class UncontrolledObject: public Object { class UncontrolledObject: public Object {
@ -29,7 +26,7 @@ public:
virtual void initialize(unsigned int _nu, unsigned int _nf); virtual void initialize(unsigned int _nu, unsigned int _nf);
virtual const e_matrix& getJu(unsigned int frameIndex) const; virtual const e_matrix& getJu(unsigned int frameIndex) const;
virtual const e_vector& getXudot() const {return m_xudot;} virtual const e_vector& getXudot() const {return m_xudot;}
virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0; virtual void updateCoordinates(const Timestamp& timestamp)=0;
virtual const unsigned int getNrOfCoordinates(){return m_nu;}; virtual const unsigned int getNrOfCoordinates(){return m_nu;};
virtual const unsigned int getNrOfFrames(){return m_nf;}; virtual const unsigned int getNrOfFrames(){return m_nf;};

2
intern/itasc/WorldObject.hpp
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@ -16,7 +16,7 @@ public:
WorldObject(); WorldObject();
virtual ~WorldObject(); virtual ~WorldObject();
virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; virtual void updateCoordinates(const Timestamp& timestamp) {};
virtual void updateKinematics(const Timestamp& timestamp) {}; virtual void updateKinematics(const Timestamp& timestamp) {};
virtual void pushCache(const Timestamp& timestamp) {}; virtual void pushCache(const Timestamp& timestamp) {};
virtual void initCache(Cache *_cache) {}; virtual void initCache(Cache *_cache) {};

24
source/blender/ikplugin/intern/itasc_plugin.cpp
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@ -90,6 +90,7 @@ typedef void (*ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned in
// one structure for each target in the scene // one structure for each target in the scene
struct IK_Target { struct IK_Target {
const struct EvaluationContext *eval_ctx;
struct Scene *blscene; struct Scene *blscene;
iTaSC::MovingFrame* target; iTaSC::MovingFrame* target;
iTaSC::ConstraintSet* constraint; iTaSC::ConstraintSet* constraint;
@ -107,6 +108,7 @@ struct IK_Target {
float eeRest[4][4]; //end effector initial pose relative to armature float eeRest[4][4]; //end effector initial pose relative to armature
IK_Target() { IK_Target() {
eval_ctx = NULL;
blscene = NULL; blscene = NULL;
target = NULL; target = NULL;
constraint = NULL; constraint = NULL;
@ -157,6 +159,7 @@ struct IK_Channel {
}; };
struct IK_Scene { struct IK_Scene {
const struct EvaluationContext *eval_ctx;
struct Scene *blscene; struct Scene *blscene;
IK_Scene* next; IK_Scene* next;
int numchan; // number of channel in pchan int numchan; // number of channel in pchan
@ -177,6 +180,7 @@ struct IK_Scene {
std::vector<IK_Target*> targets; std::vector<IK_Target*> targets;
IK_Scene() { IK_Scene() {
eval_ctx = NULL;
blscene = NULL; blscene = NULL;
next = NULL; next = NULL;
channels = NULL; channels = NULL;
@ -542,7 +546,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot)
} }
} }
static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
{ {
IK_Target *target = (IK_Target *)param; IK_Target *target = (IK_Target *)param;
// compute next target position // compute next target position
@ -550,7 +554,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
bConstraint *constraint = (bConstraint *)target->blenderConstraint; bConstraint *constraint = (bConstraint *)target->blenderConstraint;
float tarmat[4][4]; float tarmat[4][4];
BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0); BKE_constraint_target_matrix_get(target->eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
// rootmat contains the target pose in world coordinate // rootmat contains the target pose in world coordinate
// if enforce is != 1.0, blend the target position with the end effector position // if enforce is != 1.0, blend the target position with the end effector position
@ -577,7 +581,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
return true; return true;
} }
static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param) static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
{ {
IK_Scene *ikscene = (IK_Scene *)param; IK_Scene *ikscene = (IK_Scene *)param;
// compute next armature base pose // compute next armature base pose
@ -619,7 +623,7 @@ static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC:
IK_Channel &rootchan = ikscene->channels[0]; IK_Channel &rootchan = ikscene->channels[0];
// get polar target matrix in world space // get polar target matrix in world space
BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0); BKE_constraint_target_matrix_get(ikscene->eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
// convert to armature space // convert to armature space
mul_m4_m4m4(polemat, imat, mat); mul_m4_m4m4(polemat, imat, mat);
// get the target in world space (was computed before as target object are defined before base object) // get the target in world space (was computed before as target object are defined before base object)
@ -1082,6 +1086,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
ikscene = new IK_Scene; ikscene = new IK_Scene;
ikscene->blscene = blscene; ikscene->blscene = blscene;
ikscene->eval_ctx = eval_ctx;
arm = new iTaSC::Armature(); arm = new iTaSC::Armature();
scene = new iTaSC::Scene(); scene = new iTaSC::Scene();
ikscene->channels = new IK_Channel[tree->totchannel]; ikscene->channels = new IK_Channel[tree->totchannel];
@ -1397,7 +1402,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
// we can now add the armature // we can now add the armature
// the armature is based on a moving frame. // the armature is based on a moving frame.
// initialize with the correct position in case there is no cache // initialize with the correct position in case there is no cache
base_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene); base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
ikscene->base = new iTaSC::MovingFrame(initPose); ikscene->base = new iTaSC::MovingFrame(initPose);
ikscene->base->setCallback(base_callback, ikscene); ikscene->base->setCallback(base_callback, ikscene);
std::string armname; std::string armname;
@ -1439,6 +1444,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
for (t = 0; t < ikscene->targets.size(); t++) { for (t = 0; t < ikscene->targets.size(); t++) {
IK_Target *iktarget = ikscene->targets[t]; IK_Target *iktarget = ikscene->targets[t];
iktarget->blscene = blscene; iktarget->blscene = blscene;
iktarget->eval_ctx = eval_ctx;
condata = (bKinematicConstraint *)iktarget->blenderConstraint->data; condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
pchan = tree->pchan[iktarget->channel]; pchan = tree->pchan[iktarget->channel];
unsigned int controltype, bonecnt; unsigned int controltype, bonecnt;
@ -1458,7 +1464,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat); mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat);
iktarget->eeBlend = (!ikscene->polarConstraint && condata->type == CONSTRAINT_IK_COPYPOSE) ? true : false; iktarget->eeBlend = (!ikscene->polarConstraint && condata->type == CONSTRAINT_IK_COPYPOSE) ? true : false;
// use target_callback to make sure the initPose includes enforce coefficient // use target_callback to make sure the initPose includes enforce coefficient
target_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget); target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
iktarget->target = new iTaSC::MovingFrame(initPose); iktarget->target = new iTaSC::MovingFrame(initPose);
iktarget->target->setCallback(target_callback, iktarget); iktarget->target->setCallback(target_callback, iktarget);
ret = scene->addObject(iktarget->targetName, iktarget->target); ret = scene->addObject(iktarget->targetName, iktarget->target);
@ -1647,7 +1653,7 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
} }
} }
// don't cache if we are reiterating because we don't want to destroy the cache unnecessarily // don't cache if we are reiterating because we don't want to destroy the cache unnecessarily
ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation); ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation);
if (reiterate) { if (reiterate) {
// how many times do we reiterate? // how many times do we reiterate?
for (i = 0; i < ikparam->numiter; i++) { for (i = 0; i < ikparam->numiter; i++) {
@ -1656,11 +1662,11 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
{ {
break; break;
} }
ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation); ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation);
} }
if (simulation) { if (simulation) {
// one more fake iteration to cache // one more fake iteration to cache
ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true); ikscene->scene->update(timestamp, 0.0, 1, true, true, true);
} }
} }
// compute constraint error // compute constraint error