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Fix bug [#31588]: iTaSC does not handle armature scaling correctly. iTaSC solver operates in world reference, therefore armature scale is used to build the ik scene. But the scaling was not taken out when applying the pose at the end of the simulation.

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This commit is contained in:
Benoit Bolsee 2012-06-03 12:06:42 +00:00
parent 9ec2139c81
commit e063ea222c
3 changed files with 39 additions and 11 deletions
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3
intern/itasc/kdl/frames.hpp
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@ -201,6 +201,9 @@ public:
//! Adds a vector from the Vector object itself
inline Vector& operator +=(const Vector& arg);
//! Multiply by a scalar
inline Vector& operator *=(double arg);
//! Scalar multiplication is defined
inline friend Vector operator*(const Vector& lhs,double rhs);
//! Scalar multiplication is defined

8
intern/itasc/kdl/frames.inl
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@ -143,6 +143,14 @@ Vector& Vector::operator -=(const Vector & arg)
return *this;
}
Vector& Vector::operator *=(double arg)
{
data[0] *= arg;
data[1] *= arg;
data[2] *= arg;
return *this;
}
Vector Vector::Zero()
{
return Vector(0,0,0);

37
source/blender/ikplugin/intern/itasc_plugin.cpp
View File

@ -176,6 +176,8 @@ struct IK_Scene
KDL::JntArray jointArray; // buffer for storing temporary joint array
iTaSC::Solver* solver;
Object* blArmature;
float blScale; // scale of the Armature object (assume uniform scaling)
float blInvScale; // inverse of Armature object scale
struct bConstraint* polarConstraint;
std::vector<IK_Target*> targets;
@ -188,6 +190,7 @@ struct IK_Scene
scene = NULL;
base = NULL;
solver = NULL;
blScale = blInvScale = 1.0f;
blArmature = NULL;
numchan = 0;
numjoint = 0;
@ -594,9 +597,10 @@ static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame&
float chanmat[4][4];
copy_m4_m4(chanmat, pchan->pose_mat);
copy_v3_v3(chanmat[3], pchan->pose_tail);
// save the base as a frame too so that we can compute deformation
// after simulation
// save the base as a frame too so that we can compute deformation after simulation
ikscene->baseFrame.setValue(&chanmat[0][0]);
// iTaSC armature is scaled to object scale, scale the base frame too
ikscene->baseFrame.p *= ikscene->blScale;
mult_m4_m4m4(rootmat, ikscene->blArmature->obmat, chanmat);
}
else {
@ -1116,14 +1120,15 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
return NULL;
}
ikscene->blArmature = ob;
// assume uniform scaling and take Y scale as general scale for the armature
ikscene->blScale = len_v3(ob->obmat[1]);
ikscene->blInvScale = (ikscene->blScale < KDL::epsilon) ? 0.0f : 1.0f/ikscene->blScale;
std::string joint;
std::string root("root");
std::string parent;
std::vector<double> weights;
double weight[3];
// assume uniform scaling and take Y scale as general scale for the armature
float scale = len_v3(ob->obmat[1]);
// build the array of joints corresponding to the IK chain
convert_channels(ikscene, tree);
if (ingame) {
@ -1147,11 +1152,11 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
fl[0][1], fl[1][1], fl[2][1],
fl[0][2], fl[1][2], fl[2][2]);
KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]);
bpos = bpos*scale;
bpos *= ikscene->blScale;
KDL::Frame head(brot, bpos);
// rest pose length of the bone taking scaling into account
length= bone->length*scale;
length= bone->length*ikscene->blScale;
parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root;
// first the fixed segment to the bone head
if (head.p.Norm() > KDL::epsilon || head.M.GetRot().Norm() > KDL::epsilon) {
@ -1420,7 +1425,7 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
// add the end effector
// estimate the average bone length, used to clamp feedback error
for (bonecnt=0, bonelen=0.f, a=iktarget->channel; a>=0; a=tree->parent[a], bonecnt++)
bonelen += scale*tree->pchan[a]->bone->length;
bonelen += ikscene->blScale*tree->pchan[a]->bone->length;
bonelen /= bonecnt;
// store the rest pose of the end effector to compute enforce target
@ -1527,15 +1532,23 @@ static void create_scene(Scene *scene, Object *ob)
}
}
static void init_scene(Object *ob)
/* returns 1 if scaling has changed and tree must be reinitialized */
static int init_scene(Object *ob)
{
// check also if scaling has changed
float scale = len_v3(ob->obmat[1]);
IK_Scene* scene;
if (ob->pose->ikdata) {
for (IK_Scene* scene = ((IK_Data*)ob->pose->ikdata)->first;
for (scene = ((IK_Data*)ob->pose->ikdata)->first;
scene != NULL;
scene = scene->next) {
if (fabs(scene->blScale - scale) > KDL::epsilon)
return 1;
scene->channels[0].pchan->flag |= POSE_IKTREE;
}
}
return 0;
}
static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, float ctime, float frtime)
@ -1682,6 +1695,10 @@ static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, fl
pchan = ikchan->pchan;
// tail mat
ikchan->frame.getValue(&pchan->pose_mat[0][0]);
// the scale of the object was included in the ik scene, take it out now
// because the pose channels are relative to the object
mul_v3_fl(pchan->pose_mat[3], ikscene->blInvScale);
length *= ikscene->blInvScale;
copy_v3_v3(pchan->pose_tail, pchan->pose_mat[3]);
// shift to head
copy_v3_v3(yaxis, pchan->pose_mat[1]);
@ -1708,7 +1725,7 @@ void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime)
int count = 0;
if (ob->pose->ikdata != NULL && !(ob->pose->flag & POSE_WAS_REBUILT)) {
init_scene(ob);
if (!init_scene(ob))
return;
}
// first remove old scene