#include <stdlib.h>
#include <string.h>
#include <vector>
#include "MEM_guardedalloc.h"
#include "BIK_api.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_utildefines.h"
#include "BKE_global.h"
#include "BKE_armature.h"
#include "BKE_action.h"
#include "BKE_utildefines.h"
#include "BKE_constraint.h"
#include "DNA_object_types.h"
#include "DNA_action_types.h"
#include "DNA_constraint_types.h"
#include "DNA_armature_types.h"
#include "DNA_scene_types.h"
#include "itasc_plugin.h"

Classes
struct	IK_Data
struct	IK_Target
struct	IK_Channel
struct	IK_Scene
Defines
#define	ANIM_TIMESTEP 1.0
#define	ANIM_FEEDBACK 0.8
#define	ANIM_QMAX 0.52
Typedefs
typedef float	Vector3 [3]
typedef float	Vector4 [4]
typedef void(*	ErrorCallback )(const iTaSC::ConstraintValues values, unsigned int nvalues, IK_Target iktarget)
Enumerations
enum	IK_SegmentFlag { IK_XDOF = 1, IK_YDOF = 2, IK_ZDOF = 4, IK_SWING = 8, IK_REVOLUTE = 16, IK_TRANSY = 32, IK_XDOF = 1, IK_YDOF = 2, IK_ZDOF = 4, IK_TRANS_XDOF = 8, IK_TRANS_YDOF = 16, IK_TRANS_ZDOF = 32 }
enum	IK_SegmentAxis { IK_X = 0, IK_Y = 1, IK_Z = 2, IK_TRANS_X = 3, IK_TRANS_Y = 4, IK_TRANS_Z = 5, IK_X = 0, IK_Y = 1, IK_Z = 2, IK_TRANS_X = 3, IK_TRANS_Y = 4, IK_TRANS_Z = 5 }
Functions
static int	initialize_chain (Object ob, bPoseChannel pchan_tip, bConstraint *con)
static bool	is_cartesian_constraint (bConstraint *con)
static bool	constraint_valid (bConstraint *con)
int	initialize_scene (Object ob, bPoseChannel pchan_tip)
static IK_Data *	get_ikdata (bPose *pose)
static double	EulerAngleFromMatrix (const KDL::Rotation &R, int axis)
static double	ComputeTwist (const KDL::Rotation &R)
static void	RemoveEulerAngleFromMatrix (KDL::Rotation &R, double angle, int axis)
static void	GetJointRotation (KDL::Rotation &boneRot, int type, double *rot)
static bool	target_callback (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)
static bool	copypose_callback (const iTaSC::Timestamp &timestamp, iTaSC::ConstraintValues const _values, unsigned int _nvalues, void _param)
static void	copypose_error (const iTaSC::ConstraintValues values, unsigned int nvalues, IK_Target iktarget)
static bool	distance_callback (const iTaSC::Timestamp &timestamp, iTaSC::ConstraintValues const _values, unsigned int _nvalues, void _param)
static void	distance_error (const iTaSC::ConstraintValues values, unsigned int _nvalues, IK_Target iktarget)
static bool	joint_callback (const iTaSC::Timestamp &timestamp, iTaSC::ConstraintValues const _values, unsigned int _nvalues, void _param)
static int	convert_channels (IK_Scene ikscene, PoseTree tree)
static void	convert_pose (IK_Scene *ikscene)
static void	rest_pose (IK_Scene *ikscene)
static IK_Scene *	convert_tree (Scene blscene, Object ob, bPoseChannel *pchan)
static void	create_scene (Scene scene, Object ob)
static void	init_scene (Object *ob)
static void	execute_scene (Scene blscene, IK_Scene ikscene, bItasc *ikparam, float ctime, float frtime)
void	itasc_initialize_tree (struct Scene scene, Object ob, float ctime)
void	itasc_execute_tree (struct Scene scene, struct Object ob, struct bPoseChannel *pchan, float ctime)
void	itasc_release_tree (struct Scene scene, struct Object ob, float ctime)
void	itasc_clear_data (struct bPose *pose)
void	itasc_clear_cache (struct bPose *pose)
void	itasc_update_param (struct bPose *pose)
void	itasc_test_constraint (struct Object ob, struct bConstraint cons)
Variables
bItasc	DefIKParam

Detailed Description

Definition in file itasc_plugin.cpp.

Define Documentation

#define ANIM_FEEDBACK 0.8

Definition at line 77 of file itasc_plugin.cpp.

Referenced by copypose_callback(), and distance_callback().

#define ANIM_QMAX 0.52

Definition at line 78 of file itasc_plugin.cpp.

#define ANIM_TIMESTEP 1.0

Definition at line 76 of file itasc_plugin.cpp.

Typedef Documentation

typedef void(* ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned int nvalues, IK_Target *iktarget)

Definition at line 92 of file itasc_plugin.cpp.

typedef float Vector3[3]

Definition at line 89 of file itasc_plugin.cpp.

typedef float Vector4[4]

Definition at line 90 of file itasc_plugin.cpp.

Enumeration Type Documentation

enum IK_SegmentAxis

Enumerator:

IK_X
IK_Y
IK_Z
IK_TRANS_X
IK_TRANS_Y
IK_TRANS_Z
IK_X
IK_Y
IK_Z
IK_TRANS_X
IK_TRANS_Y
IK_TRANS_Z

Definition at line 230 of file itasc_plugin.cpp.

enum IK_SegmentFlag

Enumerator:

IK_XDOF
IK_YDOF
IK_ZDOF
IK_SWING
IK_REVOLUTE
IK_TRANSY
IK_XDOF
IK_YDOF
IK_ZDOF
IK_TRANS_XDOF
IK_TRANS_YDOF
IK_TRANS_ZDOF

Definition at line 221 of file itasc_plugin.cpp.

Function Documentation

static bool base_callback	(	const iTaSC::Timestamp &	timestamp,
		const iTaSC::Frame &	current,
		iTaSC::Frame &	next,
		void *	param
	)		`[static]`

Definition at line 582 of file itasc_plugin.cpp.

References IK_Scene::armature, IK_Scene::baseFrame, IK_Scene::blArmature, IK_Scene::blscene, IK_Scene::channels, CONSTRAINT_OBTYPE_OBJECT, copy_m4_m4(), copy_v3_v3(), KDL::cos(), bConstraint::data, IK_Target::ee, iTaSC::F_identity, get_constraint_target_matrix(), iTaSC::Object::getPose(), KDL::Joint::getType(), KDL::Frame::getValue(), KDL::Rotation::Inverse(), invert_m4_m4(), length(), KDL::Frame::M, mult_m4_m4m4(), Normalize(), Object::obmat, KDL::Frame::p, bPoseChannel::parent, IK_Channel::pchan, IK_Scene::polarConstraint, bKinematicConstraint::poleangle, bPoseChannel::pose_mat, bPoseChannel::pose_tail, KDL::Frame::setValue(), KDL::sin(), IK_Channel::tail, IK_Target::target, IK_Scene::targets, KDL::Joint::TransY, KDL::Rotation::UnitX(), KDL::Rotation::UnitY(), KDL::Rotation::UnitZ(), and iTaSC::Timestamp::update.

Referenced by convert_tree().

static double ComputeTwist ( const KDL::Rotation & R ) [static]

Definition at line 442 of file itasc_plugin.cpp.

References KDL::atan2(), and R.

Referenced by GetJointRotation().

static bool constraint_valid ( bConstraint * con ) [static]

Definition at line 381 of file itasc_plugin.cpp.

References CONSTRAINT_DISABLE, CONSTRAINT_IK_AUTO, data, bConstraint::data, bConstraint::flag, bKinematicConstraint::flag, if(), is_cartesian_constraint(), NULL, OB_ARMATURE, bKinematicConstraint::subtarget, bKinematicConstraint::tar, and Object::type.

Referenced by initialize_scene().

static int convert_channels	(	IK_Scene *	ikscene,
		PoseTree *	tree
	)		`[static]`

static void convert_pose ( IK_Scene * ikscene ) [static]

Definition at line 980 of file itasc_plugin.cpp.

References Bone::arm_mat, IK_Scene::blArmature, bPoseChannel::bone, Bone::bone_mat, IK_Scene::channels, copy_m4_m4(), GetJointRotation(), IK_TRANSY, invert_m4_m4(), IK_Scene::jointArray, IK_Channel::jointType, len_v3(), len_v3v3(), mul_m4_m4m3(), mult_m4_m4m4(), IK_Channel::ndof, normalize_m4(), Object::obmat, bPoseChannel::parent, IK_Channel::pchan, bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, rot, KDL::Rotation::setValue(), and unit_m4().

Referenced by convert_tree(), and execute_scene().

static IK_Scene* convert_tree	(	Scene *	blscene,
		Object *	ob,
		bPoseChannel *	pchan
	)		`[static]`

Definition at line 1046 of file itasc_plugin.cpp.

Referenced by create_scene().

static bool copypose_callback	(	const iTaSC::Timestamp &	timestamp,
		iTaSC::ConstraintValues *const	_values,
		unsigned int	_nvalues,
		void *	_param
	)		`[static]`

Definition at line 674 of file itasc_plugin.cpp.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, ANIM_FEEDBACK, IK_Target::blenderConstraint, CONSTRAINT_OFF, IK_Target::controlType, iTaSC::CopyPose::CTL_POSITION, iTaSC::CopyPose::CTL_ROTATION, bConstraint::data, DefIKParam, bConstraint::flag, bPose::ikparam, bKinematicConstraint::orientweight, IK_Target::owner, Object::pose, IK_Target::simulation, and bKinematicConstraint::weight.

Referenced by convert_tree().

static void copypose_error	(	const iTaSC::ConstraintValues *	values,
		unsigned int	nvalues,
		IK_Target *	iktarget
	)		`[static]`

Definition at line 715 of file itasc_plugin.cpp.

References IK_Target::blenderConstraint, IK_Target::controlType, iTaSC::CopyPose::CTL_POSITION, iTaSC::CopyPose::CTL_ROTATION, error(), i, bConstraint::lin_error, bConstraint::rot_error, KDL::sqr(), KDL::sqrt(), iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::y, and iTaSC::ConstraintSingleValue::yd.

Referenced by convert_tree().

static void create_scene	(	Scene *	scene,
		Object *	ob
	)		`[static]`

Definition at line 1492 of file itasc_plugin.cpp.

References PoseTree::basis_change, BLI_freelistN(), BLI_remlink(), bPose::chanbase, convert_tree(), ListBase::first, IK_Data::first, get_ikdata(), if(), bPoseChannel::iktree, MEM_freeN(), bPoseChannel::next, IK_Scene::next, PoseTree::parent, PoseTree::pchan, Object::pose, and PoseTree::targets.

Referenced by itasc_initialize_tree().

static bool distance_callback	(	const iTaSC::Timestamp &	timestamp,
		iTaSC::ConstraintValues *const	_values,
		unsigned int	_nvalues,
		void *	_param
	)		`[static]`

Definition at line 737 of file itasc_plugin.cpp.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_VALUE, ANIM_FEEDBACK, IK_Target::blenderConstraint, CONSTRAINT_OFF, bConstraint::data, DefIKParam, bKinematicConstraint::dist, bConstraint::flag, bPose::ikparam, LIMITDIST_INSIDE, LIMITDIST_OUTSIDE, bKinematicConstraint::mode, IK_Target::owner, Object::pose, IK_Target::simulation, iTaSC::Timestamp::substep, and bKinematicConstraint::weight.

Referenced by convert_tree().

static void distance_error	(	const iTaSC::ConstraintValues *	values,
		unsigned int	_nvalues,
		IK_Target *	iktarget
	)		`[static]`

Definition at line 783 of file itasc_plugin.cpp.

References IK_Target::blenderConstraint, bConstraint::lin_error, and iTaSC::ConstraintValues::values.

Referenced by convert_tree().

static double EulerAngleFromMatrix	(	const KDL::Rotation &	R,
		int	axis
	)		`[static]`

Definition at line 427 of file itasc_plugin.cpp.

References KDL::atan2(), KDL::epsilon, R, and KDL::sqrt().

Referenced by GetJointRotation().

static void execute_scene	(	Scene *	blscene,
		IK_Scene *	ikscene,
		bItasc *	ikparam,
		float	ctime,
		float	frtime
	)		`[static]`

Definition at line 1533 of file itasc_plugin.cpp.

References IK_Scene::armature, IK_Scene::baseFrame, IK_Scene::blArmature, IK_Target::blenderConstraint, IK_Scene::cache, IK_Scene::channels, IK_Target::constraint, CONSTRAINT_OFF, convert_pose(), copy_v3_v3(), iTaSC::Solver::DLS_QMAX, IK_Target::errorCallback, bConstraint::flag, bPoseChannel::flag, bItasc::flag, IK_Channel::frame, iTaSC::ConstraintSet::getControlParameters(), iTaSC::Cache::getPreviousCacheItem(), KDL::Joint::getType(), KDL::Frame::getValue(), i, if(), ITASC_AUTO_STEP, ITASC_INITIAL_REITERATION, ITASC_REITERATION, ITASC_SIMULATION, IK_Scene::jointArray, IK_Channel::jointValid, length(), bItasc::maxvel, mul_v3_fl(), NULL, bItasc::numiter, bItasc::numstep, KDL::Frame::p, IK_Channel::parent, IK_Channel::pchan, POSE_CHAIN, POSE_DONE, bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, bItasc::precision, IK_Scene::scene, iTaSC::Solver::setParam(), IK_Scene::solver, sub_v3_v3v3(), IK_Channel::tail, IK_Scene::targets, KDL::Joint::TransY, iTaSC::Scene::update(), and where_is_pose_bone().

Referenced by itasc_execute_tree().

static IK_Data* get_ikdata ( bPose * pose ) [static]

Definition at line 415 of file itasc_plugin.cpp.

References bPose::ikdata, bItasc::iksolver, init_pose_itasc(), and MEM_callocN().

Referenced by create_scene().

static void GetJointRotation	(	KDL::Rotation &	boneRot,
		int	type,
		double *	rot
	)		`[static]`

Definition at line 502 of file itasc_plugin.cpp.

References ComputeTwist(), EulerAngleFromMatrix(), KDL::Rotation::GetRot(), KDL::Rotation::GetXZRot(), IK_REVOLUTE, IK_SWING, IK_TRANSY, IK_XDOF, IK_YDOF, IK_ZDOF, and RemoveEulerAngleFromMatrix().

Referenced by convert_pose(), and joint_callback().

static void init_scene ( Object * ob ) [static]

Definition at line 1522 of file itasc_plugin.cpp.

References bPose::ikdata, NULL, Object::pose, and POSE_IKTREE.

Referenced by itasc_initialize_tree().

static int initialize_chain	(	Object *	ob,
		bPoseChannel *	pchan_tip,
		bConstraint *	con
	)		`[static]`

Definition at line 239 of file itasc_plugin.cpp.

References BLI_addtail(), PoseTarget::con, CONSTRAINT_IK_STRETCH, CONSTRAINT_IK_TIP, data, bConstraint::data, ListBase::first, bPoseChannel::flag, bKinematicConstraint::flag, bPoseChannel::iktree, PoseTree::iterations, bKinematicConstraint::iterations, MAX2, MEM_callocN(), MEM_freeN(), MIN2, NULL, PoseTree::parent, bPoseChannel::parent, PoseTree::pchan, POSE_CHAIN, POSE_IKTREE, bKinematicConstraint::rootbone, size(), PoseTree::stretch, PoseTree::targets, PoseTarget::tip, and PoseTree::totchannel.

Referenced by initialize_scene().

int initialize_scene	(	Object *	ob,
		bPoseChannel *	pchan_tip
	)

Definition at line 399 of file itasc_plugin.cpp.

References CONSTRAINT_TYPE_KINEMATIC, constraint_valid(), bPoseChannel::constraints, ListBase::first, initialize_chain(), bConstraint::next, and bConstraint::type.

Referenced by itasc_initialize_tree().

static bool is_cartesian_constraint ( bConstraint * con ) [static]

Definition at line 374 of file itasc_plugin.cpp.

Referenced by constraint_valid(), and convert_tree().

void itasc_clear_cache ( struct bPose * pose )

Definition at line 1760 of file itasc_plugin.cpp.

References IK_Data::first, bPose::ikdata, IK_Scene::next, and NULL.

void itasc_clear_data ( struct bPose * pose )

Definition at line 1747 of file itasc_plugin.cpp.

References IK_Data::first, bPose::ikdata, MEM_freeN(), IK_Scene::next, and NULL.

Referenced by itasc_initialize_tree().

void itasc_execute_tree	(	struct Scene *	scene,
		struct Object *	ob,
		struct bPoseChannel *	pchan,
		float	ctime
	)

Definition at line 1718 of file itasc_plugin.cpp.

References bPose::ctime, DefIKParam, execute_scene(), IK_Data::first, bPose::flag, RenderData::frs_sec, RenderData::frs_sec_base, bPose::ikdata, bPose::ikparam, IK_Scene::next, Object::pose, POSE_GAME_ENGINE, and Scene::r.

void itasc_initialize_tree	(	struct Scene *	scene,
		Object *	ob,
		float	ctime
	)

Definition at line 1693 of file itasc_plugin.cpp.

References bPose::chanbase, bPoseChannel::constflag, create_scene(), ListBase::first, bPose::flag, bPose::ikdata, init_scene(), initialize_scene(), itasc_clear_data(), itasc_update_param(), bPoseChannel::next, NULL, PCHAN_HAS_IK, Object::pose, and POSE_WAS_REBUILT.

void itasc_release_tree	(	struct Scene *	scene,
		struct Object *	ob,
		float	ctime
	)

Definition at line 1742 of file itasc_plugin.cpp.

void itasc_test_constraint	(	struct Object *	ob,
		struct bConstraint *	cons
	)

Definition at line 1798 of file itasc_plugin.cpp.

References CONSTRAINT_IK_COPYPOSE, CONSTRAINT_IK_DISTANCE, CONSTRAINT_TYPE_KINEMATIC, data, bConstraint::data, if(), NULL, bConstraint::type, and bKinematicConstraint::type.

void itasc_update_param ( struct bPose * pose )

Definition at line 1772 of file itasc_plugin.cpp.

References iTaSC::ACT_FEEDBACK, CONSTRAINT_ID_ALL, iTaSC::Solver::DLS_EPSILON, iTaSC::Solver::DLS_LAMBDA_MAX, iTaSC::Solver::DLS_QMAX, IK_Data::first, iTaSC::ID_JOINT, bPose::ikdata, bPose::ikparam, ITASC_SIMULATION, iTaSC::Scene::MAX_TIMESTEP, iTaSC::Scene::MIN_TIMESTEP, and IK_Scene::next.

Referenced by itasc_initialize_tree().

static bool joint_callback	(	const iTaSC::Timestamp &	timestamp,
		iTaSC::ConstraintValues *const	_values,
		unsigned int	_nvalues,
		void *	_param
	)		`[static]`