forked from bartvdbraak/blender
Whitespace commit in armature.c
This commit is contained in:
Joshua Leung
parent
f63b70635c
commit
a54edca119
@ -1709,13 +1709,13 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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if (tree->totchannel == 0)
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return;
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iktree= MEM_mallocN(sizeof(void*)*tree->totchannel, "ik tree");
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for(a=0; a<tree->totchannel; a++) {
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pchan= tree->pchan[a];
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bone= pchan->bone;
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/* set DoF flag */
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flag= 0;
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if(!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP))
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@ -1724,32 +1724,32 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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flag |= IK_YDOF;
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if(!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag & BONE_IK_NO_ZDOF_TEMP))
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flag |= IK_ZDOF;
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if(tree->stretch && (pchan->ikstretch > 0.0)) {
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flag |= IK_TRANS_YDOF;
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hasstretch = 1;
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}
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seg= iktree[a]= IK_CreateSegment(flag);
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/* find parent */
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if(a == 0)
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parent= NULL;
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else
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parent= iktree[tree->parent[a]];
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IK_SetParent(seg, parent);
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/* get the matrix that transforms from prevbone into this bone */
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Mat3CpyMat4(R_bonemat, pchan->pose_mat);
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/* gather transformations for this IK segment */
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if (pchan->parent)
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Mat3CpyMat4(R_parmat, pchan->parent->pose_mat);
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else
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Mat3One(R_parmat);
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/* bone offset */
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if (pchan->parent && (a > 0))
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VecSubf(start, pchan->pose_head, pchan->parent->pose_tail);
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@ -1759,37 +1759,37 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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/* change length based on bone size */
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length= bone->length*VecLength(R_bonemat[1]);
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/* compute rest basis and its inverse */
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Mat3CpyMat3(rest_basis, bone->bone_mat);
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Mat3CpyMat3(irest_basis, bone->bone_mat);
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Mat3Transp(irest_basis);
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/* compute basis with rest_basis removed */
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Mat3Inv(iR_parmat, R_parmat);
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Mat3MulMat3(full_basis, iR_parmat, R_bonemat);
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Mat3MulMat3(basis, irest_basis, full_basis);
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/* basis must be pure rotation */
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Mat3Ortho(basis);
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/* transform offset into local bone space */
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Mat3Ortho(iR_parmat);
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Mat3MulVecfl(iR_parmat, start);
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IK_SetTransform(seg, start, rest_basis, basis, length);
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if (pchan->ikflag & BONE_IK_XLIMIT)
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IK_SetLimit(seg, IK_X, pchan->limitmin[0], pchan->limitmax[0]);
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if (pchan->ikflag & BONE_IK_YLIMIT)
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IK_SetLimit(seg, IK_Y, pchan->limitmin[1], pchan->limitmax[1]);
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if (pchan->ikflag & BONE_IK_ZLIMIT)
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IK_SetLimit(seg, IK_Z, pchan->limitmin[2], pchan->limitmax[2]);
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IK_SetStiffness(seg, IK_X, pchan->stiffness[0]);
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IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]);
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IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]);
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if(tree->stretch && (pchan->ikstretch > 0.0)) {
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float ikstretch = pchan->ikstretch*pchan->ikstretch;
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IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0-ikstretch, 0.99));
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@ -1818,7 +1818,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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for (target=tree->targets.first; target; target=target->next) {
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float polepos[3];
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int poleconstrain= 0;
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data= (bKinematicConstraint*)target->con->data;
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/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
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@ -1835,7 +1835,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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/* same for pole vector target */
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if(data->poletar) {
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get_constraint_target_matrix(target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
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if(data->flag & CONSTRAINT_IK_SETANGLE) {
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/* don't solve IK when we are setting the pole angle */
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break;
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@ -1844,7 +1844,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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Mat4MulMat4(goal, rootmat, goalinv);
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VECCOPY(polepos, goal[3]);
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poleconstrain= 1;
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if(data->flag & CONSTRAINT_IK_GETANGLE) {
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poleangledata= data;
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data->flag &= ~CONSTRAINT_IK_GETANGLE;
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@ -1903,36 +1903,35 @@ static void execute_posetree(Object *ob, PoseTree *tree)
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tree->basis_change= MEM_mallocN(sizeof(float[3][3])*tree->totchannel, "ik basis change");
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if(hasstretch)
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ikstretch= MEM_mallocN(sizeof(float)*tree->totchannel, "ik stretch");
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for(a=0; a<tree->totchannel; a++) {
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IK_GetBasisChange(iktree[a], tree->basis_change[a]);
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if(hasstretch) {
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/* have to compensate for scaling received from parent */
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float parentstretch, stretch;
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pchan= tree->pchan[a];
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parentstretch= (tree->parent[a] >= 0)? ikstretch[tree->parent[a]]: 1.0;
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if(tree->stretch && (pchan->ikstretch > 0.0)) {
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float trans[3], length;
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IK_GetTranslationChange(iktree[a], trans);
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length= pchan->bone->length*VecLength(pchan->pose_mat[1]);
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ikstretch[a]= (length == 0.0)? 1.0: (trans[1]+length)/length;
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}
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else
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ikstretch[a] = 1.0;
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stretch= (parentstretch == 0.0)? 1.0: ikstretch[a]/parentstretch;
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VecMulf(tree->basis_change[a][0], stretch);
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VecMulf(tree->basis_change[a][1], stretch);
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VecMulf(tree->basis_change[a][2], stretch);
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}
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IK_FreeSegment(iktree[a]);
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}
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