BKE_armature.hh File Reference

#include <optional>
#include "BLI_bounds_types.hh"
#include "BLI_function_ref.hh"
#include "BLI_math_matrix_types.hh"
#include "BLI_math_vector_types.hh"
#include "BLI_set.hh"
#include "DNA_armature_types.h"

Go to the source code of this file.

Classes
struct	EditBone
struct	PoseTarget
struct	PoseTree
struct	BoneParentTransform
struct	Mat4
struct	BBoneSplineParameters
struct	blender::bke::SelectedBonesResult

Namespaces
namespace	blender
namespace	blender::bke

Macros
#define	MAX_BBONE_SUBDIV   32
#define	FOREACH_PCHAN_SELECTED_IN_OBJECT_BEGIN(_ob, _pchan)
#define	FOREACH_PCHAN_SELECTED_IN_OBJECT_END
#define	FOREACH_PCHAN_VISIBLE_IN_OBJECT_BEGIN(_ob, _pchan)
#define	FOREACH_PCHAN_VISIBLE_IN_OBJECT_END

Typedefs
using	blender::bke::SelectedBoneCallback = blender::FunctionRef<void(Bone *bone)>
using	blender::bke::BoneNameSet = blender::Set<std::string>

Functions
bArmature *	BKE_armature_add (Main *bmain, const char *name)
bArmature *	BKE_armature_from_object (Object *ob)
int	BKE_armature_bonelist_count (const ListBase *lb)
void	BKE_armature_bonelist_free (ListBase *lb, bool do_id_user)
void	BKE_armature_editbonelist_free (ListBase *lb, bool do_id_user)
void	BKE_armature_copy_bone_transforms (bArmature *armature_dst, const bArmature *armature_src)
void	BKE_armature_transform (bArmature *arm, const float mat[4][4], bool do_props)
std::optional< blender::Bounds< blender::float3 > >	BKE_armature_min_max (const Object *ob)
void	BKE_pchan_minmax (const Object *ob, const bPoseChannel *pchan, const bool use_empty_drawtype, blender::float3 &r_min, blender::float3 &r_max)
std::optional< blender::Bounds< blender::float3 > >	BKE_pose_minmax (const Object *ob, bool use_select)
bool	bone_autoside_name (char name[64], int strip_number, short axis, float head, float tail)
Bone *	BKE_armature_find_bone_name (bArmature *arm, const char *name)
void	BKE_armature_bone_hash_make (bArmature *arm)
void	BKE_armature_bone_hash_free (bArmature *arm)
bool	BKE_armature_bone_flag_test_recursive (const Bone *bone, int flag)
float	distfactor_to_bone (const blender::float3 &position, const blender::float3 &head, const blender::float3 &tail, float radius_head, float radius_tail, float falloff_distance)
void	BKE_armature_where_is (bArmature *arm)
void	BKE_armature_where_is_bone (Bone *bone, const Bone *bone_parent, bool use_recursion)
void	BKE_pose_clear_pointers (bPose *pose)
void	BKE_pose_remap_bone_pointers (bArmature *armature, bPose *pose)
void	BKE_pchan_rebuild_bbone_handles (bPose *pose, bPoseChannel *pchan)
void	BKE_pose_channels_clear_with_null_bone (bPose *pose, bool do_id_user)
void	BKE_pose_rebuild (Main *bmain, Object *ob, bArmature *arm, bool do_id_user)
void	BKE_pose_ensure (Main *bmain, Object *ob, bArmature *arm, bool do_id_user)
void	BKE_pose_where_is (Depsgraph *depsgraph, Scene *scene, Object *ob)
void	BKE_pose_where_is_bone (Depsgraph *depsgraph, Scene *scene, Object *ob, bPoseChannel *pchan, float ctime, bool do_extra)
void	BKE_pose_where_is_bone_tail (bPoseChannel *pchan)
void	vec_roll_to_mat3 (const float vec[3], float roll, float r_mat[3][3])
void	vec_roll_to_mat3_normalized (const float nor[3], float roll, float r_mat[3][3])
void	mat3_to_vec_roll (const float mat[3][3], float r_vec[3], float *r_roll)
void	mat3_vec_to_roll (const float mat[3][3], const float vec[3], float *r_roll)
void	BKE_armature_mat_world_to_pose (Object *ob, const float inmat[4][4], float outmat[4][4])
void	BKE_armature_loc_world_to_pose (Object *ob, const float inloc[3], float outloc[3])
void	BKE_armature_mat_pose_to_bone (const bPoseChannel *pchan, const float inmat[4][4], float outmat[4][4])
void	BKE_armature_loc_pose_to_bone (const bPoseChannel *pchan, const float inloc[3], float outloc[3])
void	BKE_armature_mat_bone_to_pose (const bPoseChannel *pchan, const float inmat[4][4], float outmat[4][4])
void	BKE_armature_mat_pose_to_delta (float delta_mat[4][4], float pose_mat[4][4], float arm_mat[4][4])
void	BKE_armature_mat_pose_to_bone_ex (Depsgraph *depsgraph, Object *ob, const bPoseChannel *pchan, const float inmat[4][4], float outmat[4][4])
void	BKE_pchan_mat3_to_rot (bPoseChannel *pchan, const float mat[3][3], bool use_compat)
void	BKE_pchan_rot_to_mat3 (const bPoseChannel *pchan, float r_mat[3][3])
void	BKE_pchan_apply_mat4 (bPoseChannel *pchan, const float mat[4][4], bool use_compat)
void	BKE_pchan_to_mat4 (const bPoseChannel *pchan, float r_chanmat[4][4])
void	BKE_pchan_calc_mat (bPoseChannel *pchan)
void	BKE_bone_offset_matrix_get (const Bone *bone, float offs_bone[4][4])
void	BKE_bone_parent_transform_clear (BoneParentTransform *bpt)
void	BKE_bone_parent_transform_invert (BoneParentTransform *bpt)
void	BKE_bone_parent_transform_combine (const BoneParentTransform *in1, const BoneParentTransform *in2, BoneParentTransform *result)
void	BKE_bone_parent_transform_apply (const BoneParentTransform *bpt, const float inmat[4][4], float outmat[4][4])
void	BKE_bone_parent_transform_calc_from_pchan (const bPoseChannel *pchan, BoneParentTransform *r_bpt)
void	BKE_bone_parent_transform_calc_from_matrices (int bone_flag, int inherit_scale_mode, const float offs_bone[4][4], const float parent_arm_mat[4][4], const float parent_pose_mat[4][4], BoneParentTransform *r_bpt)
void	BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], float *angle, short oldMode, short newMode)
void	BKE_pchan_protected_location_set (bPoseChannel *pchan, const float location[3])
void	BKE_pchan_protected_scale_set (bPoseChannel *pchan, const float scale[3])
void	BKE_pchan_protected_rotation_quaternion_set (bPoseChannel *pchan, const float quat[4])
void	BKE_pchan_protected_rotation_euler_set (bPoseChannel *pchan, const float rotation_euler[3])
void	BKE_pchan_protected_rotation_axisangle_set (bPoseChannel *pchan, const float axis[3], float angle)
void	BKE_pchan_bbone_handles_get (bPoseChannel *pchan, bPoseChannel **r_prev, bPoseChannel **r_next)
void	BKE_pchan_bbone_spline_params_get (bPoseChannel *pchan, bool rest, BBoneSplineParameters *param)
void	BKE_pchan_bbone_spline_setup (bPoseChannel *pchan, bool rest, bool for_deform, Mat4 *result_array)
void	BKE_pchan_bbone_handles_compute (const BBoneSplineParameters *param, float h1[3], float *r_roll1, float h2[3], float *r_roll2, bool ease, bool offsets)
int	BKE_pchan_bbone_spline_compute (BBoneSplineParameters *param, bool for_deform, Mat4 *result_array)
void	BKE_pchan_bbone_segments_cache_compute (bPoseChannel *pchan)
void	BKE_pchan_bbone_segments_cache_copy (bPoseChannel *pchan, bPoseChannel *pchan_from)
void	BKE_pchan_bbone_deform_clamp_segment_index (const bPoseChannel *pchan, float head_tail, int *r_index, float *r_blend_next)
void	BKE_pchan_bbone_deform_segment_index (const bPoseChannel *pchan, const float *co, int *r_index, float *r_blend_next)
bPoseChannel *	BKE_armature_ik_solver_find_root (bPoseChannel *pchan, bKinematicConstraint *data)
bPoseChannel *	BKE_armature_splineik_solver_find_root (bPoseChannel *pchan, bSplineIKConstraint *data)
void	BKE_pose_splineik_init_tree (Scene *scene, Object *ob, float ctime)
void	BKE_splineik_execute_tree (Depsgraph *depsgraph, Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime)
void	BKE_pose_pchan_index_rebuild (bPose *pose)
void	BKE_pose_eval_init (Depsgraph *depsgraph, Scene *scene, Object *object)
void	BKE_pose_eval_init_ik (Depsgraph *depsgraph, Scene *scene, Object *object)
void	BKE_pose_eval_bone (Depsgraph *depsgraph, Scene *scene, Object *object, int pchan_index)
void	BKE_pose_constraints_evaluate (Depsgraph *depsgraph, Scene *scene, Object *object, int pchan_index)
void	BKE_pose_bone_done (Depsgraph *depsgraph, Object *object, int pchan_index)
void	BKE_pose_eval_bbone_segments (Depsgraph *depsgraph, Object *object, int pchan_index)
void	BKE_pose_iktree_evaluate (Depsgraph *depsgraph, Scene *scene, Object *object, int rootchan_index)
void	BKE_pose_splineik_evaluate (Depsgraph *depsgraph, Scene *scene, Object *object, int rootchan_index)
void	BKE_pose_eval_done (Depsgraph *depsgraph, Object *object)
void	BKE_pose_eval_cleanup (Depsgraph *depsgraph, Scene *scene, Object *object)
SelectedBonesResult	blender::bke::BKE_armature_find_selected_bones (const bArmature *armature, SelectedBoneCallback callback)
BoneNameSet	blender::bke::BKE_armature_find_selected_bone_names (const bArmature *armature)
BoneNameSet	blender::bke::BKE_pose_channel_find_selected_names (const Object *object)
Deform 3D Coordinates by Armature (<tt>armature_deform.cc</tt>)
void	BKE_armature_deform_coords_with_curves (const Object &ob_arm, const Object &ob_target, const ListBase *defbase, blender::MutableSpan< blender::float3 > vert_coords, std::optional< blender::Span< blender::float3 > > vert_coords_prev, std::optional< blender::MutableSpan< blender::float3x3 > > vert_deform_mats, blender::Span< MDeformVert > dverts, int deformflag, blender::StringRefNull defgrp_name)
void	BKE_armature_deform_coords_with_mesh (const Object &ob_arm, const Object &ob_target, blender::MutableSpan< blender::float3 > vert_coords, std::optional< blender::Span< blender::float3 > > vert_coords_prev, std::optional< blender::MutableSpan< blender::float3x3 > > vert_deform_mats, int deformflag, blender::StringRefNull defgrp_name, const Mesh *me_target)
void	BKE_armature_deform_coords_with_editmesh (const Object &ob_arm, const Object &ob_target, blender::MutableSpan< blender::float3 > vert_coords, std::optional< blender::Span< blender::float3 > > vert_coords_prev, std::optional< blender::MutableSpan< blender::float3x3 > > vert_deform_mats, int deformflag, blender::StringRefNull defgrp_name, const BMEditMesh &em_target)

Macro Definition Documentation

FOREACH_PCHAN_SELECTED_IN_OBJECT_BEGIN

#define FOREACH_PCHAN_SELECTED_IN_OBJECT_BEGIN	(		_ob,
			_pchan )

Value:

for (bPoseChannel *_pchan = (bPoseChannel *)(_ob)->pose->chanbase.first; _pchan; \
     _pchan = _pchan->next) \
{ \
  if (blender::animrig::bone_is_visible(((bArmature *)(_ob)->data), _pchan) && \
      ((_pchan)->flag & POSE_SELECTED)) \
  {

Definition at line 572 of file BKE_armature.hh.

Referenced by bone_collection_assign_pchans(), pose_clear_transform_generic_exec(), pose_flip_names_exec(), pose_flip_quats_exec(), screen_ctx_selected_pose_bones(), and screen_ctx_selected_pose_bones_from_active_object().

FOREACH_PCHAN_SELECTED_IN_OBJECT_END

#define FOREACH_PCHAN_SELECTED_IN_OBJECT_END

Value:

} \
} \
((void)0)

Definition at line 579 of file BKE_armature.hh.

Referenced by bone_collection_assign_pchans(), pose_clear_transform_generic_exec(), pose_flip_names_exec(), pose_flip_quats_exec(), screen_ctx_selected_pose_bones(), screen_ctx_selected_pose_bones_from_active_object(), and screen_ctx_visible_pose_bones().

FOREACH_PCHAN_VISIBLE_IN_OBJECT_BEGIN

#define FOREACH_PCHAN_VISIBLE_IN_OBJECT_BEGIN	(		_ob,
			_pchan )

Value:

for (bPoseChannel *_pchan = (bPoseChannel *)(_ob)->pose->chanbase.first; _pchan; \
     _pchan = _pchan->next) \
{ \
  if (blender::animrig::bone_is_visible(((bArmature *)(_ob)->data), _pchan)) {

Definition at line 584 of file BKE_armature.hh.

Referenced by screen_ctx_visible_pose_bones().

FOREACH_PCHAN_VISIBLE_IN_OBJECT_END

#define FOREACH_PCHAN_VISIBLE_IN_OBJECT_END

Value:

} \
} \
((void)0)

Definition at line 589 of file BKE_armature.hh.

Referenced by screen_ctx_visible_pose_bones().

MAX_BBONE_SUBDIV

#define MAX_BBONE_SUBDIV   32

Definition at line 453 of file BKE_armature.hh.

Referenced by add_verts_to_dgroups(), BKE_pchan_bbone_spline_compute(), ebone_spline_preview(), and find_bbone_segment_index_curved().

Function Documentation

BKE_armature_add()

bArmature * BKE_armature_add	(	Main *	bmain,
		const char *	name )

Definition at line 541 of file blenkernel/intern/armature.cc.

References BKE_id_new(), and name.

Referenced by BKE_object_obdata_add_from_type(), blender::io::fbx::ArmatureImportContext::create_armature_for_node(), blender::io::usd::USDSkeletonReader::create_object(), blender::animrig::tests::KeyframingTest::SetUp(), blender::animrig::tests::PoseTest::SetUp(), blender::editor::animation::tests::KeylistSummaryTest::SetUp(), and blender::ed::animation::tests::TEST_F().

BKE_armature_bone_flag_test_recursive()

bool BKE_armature_bone_flag_test_recursive	(	const Bone *	bone,
		int	flag )

Definition at line 871 of file blenkernel/intern/armature.cc.

References BKE_armature_bone_flag_test_recursive(), Bone::flag, flag, and Bone::parent.

Referenced by BKE_armature_bone_flag_test_recursive().

BKE_armature_bone_hash_free()

void BKE_armature_bone_hash_free

(

bArmature *

arm

)

Definition at line 857 of file blenkernel/intern/armature.cc.

References BLI_ghash_free(), and bArmature::bonehash.

Referenced by armature_free_data(), and ED_armature_from_edit().

BKE_armature_bone_hash_make()

void BKE_armature_bone_hash_make

(

bArmature *

arm

)

Definition at line 850 of file blenkernel/intern/armature.cc.

References armature_bone_from_name_map(), and bArmature::bonehash.

Referenced by armature_blend_read_data(), armature_copy_data(), ED_armature_from_edit(), blender::animrig::tests::ArmatureBoneCollections::SetUp(), blender::animrig::tests::ArmatureBoneCollectionsLiboverrides::SetUp(), and blender::editor::animation::tests::KeylistSummaryTest::SetUp().

BKE_armature_bonelist_count()

int BKE_armature_bonelist_count

(

const ListBase *

lb

)

Definition at line 557 of file blenkernel/intern/armature.cc.

References BKE_armature_bonelist_count(), i, and LISTBASE_FOREACH.

Referenced by armature_bone_from_name_map(), BKE_armature_bonelist_count(), and blender::ed::object::data_xform_create_ex().

BKE_armature_bonelist_free()

void BKE_armature_bonelist_free	(	ListBase *	lb,
		bool	do_id_user )

Definition at line 567 of file blenkernel/intern/armature.cc.

References BKE_armature_bonelist_free(), BLI_freelistN(), IDP_FreeProperty_ex(), and LISTBASE_FOREACH.

Referenced by armature_free_data(), BKE_armature_bonelist_free(), and ED_armature_from_edit().

BKE_armature_copy_bone_transforms()

void BKE_armature_copy_bone_transforms	(	bArmature *	armature_dst,
		const bArmature *	armature_src )

Definition at line 676 of file blenkernel/intern/armature.cc.

References BLI_assert, bArmature::bonebase, copy_bone_transform(), ListBase::first, and Bone::next.

Referenced by blender::ed::object::apply_objects_internal(), and blender::ed::object::object_origin_set_exec().

BKE_armature_deform_coords_with_curves()

void BKE_armature_deform_coords_with_curves	(	const Object &	ob_arm,
		const Object &	ob_target,
		const ListBase *	defbase,
		blender::MutableSpan< blender::float3 >	vert_coords,
		std::optional< blender::Span< blender::float3 > >	vert_coords_prev,
		std::optional< blender::MutableSpan< blender::float3x3 > >	vert_deform_mats,
		blender::Span< MDeformVert >	dverts,
		int	deformflag,
		blender::StringRefNull	defgrp_name )

Definition at line 618 of file armature_deform.cc.

References blender::bke::armature_deform_coords(), BLI_assert, blender::MutableSpan< T >::size(), blender::Span< T >::size(), and blender::bke::verify_armature_deform_valid().

Referenced by blender::bke::tests::ArmatureDeformTestBase::curves_test(), blender::bke::tests::ArmatureDeformTestBase::grease_pencil_test(), and blender::modify_curves().

BKE_armature_deform_coords_with_editmesh()

void BKE_armature_deform_coords_with_editmesh	(	const Object &	ob_arm,
		const Object &	ob_target,
		blender::MutableSpan< blender::float3 >	vert_coords,
		std::optional< blender::Span< blender::float3 > >	vert_coords_prev,
		std::optional< blender::MutableSpan< blender::float3x3 > >	vert_deform_mats,
		int	deformflag,
		blender::StringRefNull	defgrp_name,
		const BMEditMesh &	em_target )

Definition at line 712 of file armature_deform.cc.

References blender::bke::armature_deform_editmesh(), BKE_id_defgroup_list_get(), BMEditMesh::bm, CD_MDEFORMVERT, CustomData_get_offset(), Object::data, BMesh::vdata, and blender::bke::verify_armature_deform_valid().

Referenced by deform_matrices_EM(), deform_verts_EM(), and blender::bke::tests::ArmatureDeformTestBase::edit_mesh_test().

BKE_armature_deform_coords_with_mesh()

void BKE_armature_deform_coords_with_mesh	(	const Object &	ob_arm,
		const Object &	ob_target,
		blender::MutableSpan< blender::float3 >	vert_coords,
		std::optional< blender::Span< blender::float3 > >	vert_coords_prev,
		std::optional< blender::MutableSpan< blender::float3x3 > >	vert_deform_mats,
		int	deformflag,
		blender::StringRefNull	defgrp_name,
		const Mesh *	me_target )

Definition at line 651 of file armature_deform.cc.

References blender::bke::armature_deform_coords(), BKE_id_defgroup_list_get(), BKE_id_supports_vertex_groups(), Object::data, Lattice::dvert, Mesh::id, OB_LATTICE, OB_MESH, Lattice::pntsu, Lattice::pntsv, Lattice::pntsw, blender::MutableSpan< T >::size(), blender::Span< T >::size(), Object::type, and blender::bke::verify_armature_deform_valid().

Referenced by deform_matrices(), deform_verts(), and blender::bke::tests::ArmatureDeformTestBase::mesh_test().

BKE_armature_editbonelist_free()

void BKE_armature_editbonelist_free	(	ListBase *	lb,
		bool	do_id_user )

Definition at line 583 of file blenkernel/intern/armature.cc.

References BLI_remlink_safe(), IDP_FreeProperty_ex(), LISTBASE_FOREACH_MUTABLE, and MEM_freeN().

Referenced by armature_free_data().

BKE_armature_find_bone_name()

Bone * BKE_armature_find_bone_name	(	bArmature *	arm,
		const char *	name )

Find the bone with the given name.

When doing multiple subsequent calls to this function, consider calling BKE_armature_bone_hash_make first to hash the bone names and speed up queries.

Definition at line 815 of file blenkernel/intern/armature.cc.

References BLI_ghash_lookup(), bArmature::bonebase, bArmature::bonehash, get_named_bone_bonechildren(), and name.

Referenced by BKE_pose_blend_read_after_liblink(), BKE_pose_remap_bone_pointers(), copy_and_update_ownership(), copy_bone_collection(), copy_bonechildren_custom_handles(), ED_armature_bone_rename(), ed_armature_bone_unique_name(), blender::io::usd::is_armature_modifier_bone_name(), and blender::ed::object::test_constraint().

BKE_armature_from_object()

bArmature * BKE_armature_from_object

(

Object *

ob

)

Definition at line 549 of file blenkernel/intern/armature.cc.

References Object::data, OB_ARMATURE, and Object::type.

Referenced by apply_armature_pose2bones_exec(), blender::ed::transform::createTransPose(), and blender::ed::object::test_constraint().

BKE_armature_ik_solver_find_root()

bPoseChannel * BKE_armature_ik_solver_find_root	(	bPoseChannel *	pchan,
		bKinematicConstraint *	data )

Definition at line 3245 of file blenkernel/intern/armature.cc.

References CONSTRAINT_IK_TIP, data, and bPoseChannel::parent.

Referenced by blender::deg::DepsgraphNodeBuilder::build_ik_pose(), and blender::deg::DepsgraphRelationBuilder::build_ik_pose().

BKE_armature_loc_pose_to_bone()

void BKE_armature_loc_pose_to_bone	(	const bPoseChannel *	pchan,
		const float	inloc[3],
		float	outloc[3] )

Convert Pose-Space Location to Bone-Space Location

Note

this cannot be used to convert to pose-space location of the supplied pose-channel into its local space (i.e. visual-keyframing).

Definition at line 2302 of file blenkernel/intern/armature.cc.

References BKE_armature_mat_pose_to_bone(), copy_v3_v3(), and unit_m4().

Referenced by snap_sel_to_grid_exec(), and snap_selected_to_location_rotation().

BKE_armature_loc_world_to_pose()

void BKE_armature_loc_world_to_pose	(	Object *	ob,
		const float	inloc[3],
		float	outloc[3] )

Convert World-Space Location to Pose-Space Location

Note

this cannot be used to convert to pose-space location of the supplied pose-channel into its local space (i.e. visual-keyframing).

Definition at line 2037 of file blenkernel/intern/armature.cc.

References BKE_armature_mat_world_to_pose(), copy_v3_v3(), and unit_m4().

BKE_armature_mat_bone_to_pose()

void BKE_armature_mat_bone_to_pose	(	const bPoseChannel *	pchan,
		const float	inmat[4][4],
		float	outmat[4][4] )

Convert Bone-Space Matrix to Pose-Space Matrix.

Definition at line 2292 of file blenkernel/intern/armature.cc.

References BKE_bone_parent_transform_apply(), and BKE_bone_parent_transform_calc_from_pchan().

Referenced by BKE_constraint_mat_convertspace(), and BKE_pose_where_is_bone().

BKE_armature_mat_pose_to_bone()

void BKE_armature_mat_pose_to_bone	(	const bPoseChannel *	pchan,
		const float	inmat[4][4],
		float	outmat[4][4] )

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).

Definition at line 2281 of file blenkernel/intern/armature.cc.

References BKE_bone_parent_transform_apply(), BKE_bone_parent_transform_calc_from_pchan(), and BKE_bone_parent_transform_invert().

Referenced by blender::ed::transform::apply_targetless_ik(), BKE_armature_loc_pose_to_bone(), BKE_armature_mat_pose_to_bone_ex(), BKE_constraint_apply_for_pose(), BKE_constraint_mat_convertspace(), BKE_pchan_bbone_spline_params_get(), pose_visual_transform_apply_exec(), and blender::animrig::visualkey_get_values().

BKE_armature_mat_pose_to_bone_ex()

void BKE_armature_mat_pose_to_bone_ex	(	Depsgraph *	depsgraph,
		Object *	ob,
		const bPoseChannel *	pchan,
		const float	inmat[4][4],
		float	outmat[4][4] )

Definition at line 2326 of file blenkernel/intern/armature.cc.

References BKE_armature_mat_pose_to_bone(), BKE_pchan_apply_mat4(), BKE_pose_where_is_bone(), depsgraph, and unit_m4().

BKE_armature_mat_pose_to_delta()

void BKE_armature_mat_pose_to_delta	(	float	delta_mat[4][4],
		float	pose_mat[4][4],
		float	arm_mat[4][4] )

Remove rest-position effects from pose-transform for obtaining 'visual' transformation of pose-channel. (used by the Visual-Keyframing stuff).

Definition at line 2399 of file blenkernel/intern/armature.cc.

References invert_m4_m4(), and mul_m4_m4m4().

BKE_armature_mat_world_to_pose()

void BKE_armature_mat_world_to_pose	(	Object *	ob,
		const float	inmat[4][4],
		float	outmat[4][4] )

Convert World-Space Matrix to Pose-Space Matrix.

Definition at line 2021 of file blenkernel/intern/armature.cc.

References invert_m4_m4(), and mul_m4_m4m4().

Referenced by BKE_armature_loc_world_to_pose().

BKE_armature_min_max()

std::optional< blender::Bounds< blender::float3 > > BKE_armature_min_max

(

const Object *

ob

)

Return the posed Armature bounding box in object-local coordinate space.

Definition at line 3137 of file blenkernel/intern/armature.cc.

References BKE_pose_minmax().

Referenced by BKE_object_boundbox_get().

BKE_armature_splineik_solver_find_root()

bPoseChannel * BKE_armature_splineik_solver_find_root	(	bPoseChannel *	pchan,
		bSplineIKConstraint *	data )

Definition at line 3266 of file blenkernel/intern/armature.cc.

References BLI_assert, data, and bPoseChannel::parent.

Referenced by blender::deg::DepsgraphNodeBuilder::build_splineik_pose(), and blender::deg::DepsgraphRelationBuilder::build_splineik_pose().

BKE_armature_transform()

void BKE_armature_transform	(	bArmature *	arm,
		const float	mat[4][4],
		bool	do_props )

Definition at line 779 of file blenkernel/intern/armature.cc.

References armature_transform_recurse(), bArmature::bonebase, copy_m3_m4(), mat4_to_scale(), and normalize_m3().

Referenced by blender::ed::object::apply_objects_internal(), blender::ed::object::armature_coords_and_quats_apply_with_mat4(), and ED_armature_transform().

BKE_armature_where_is()

void BKE_armature_where_is

(

bArmature *

arm

)

Updates vectors and matrices on rest-position level, only needed after editing armature itself, now only on reading file.

Definition at line 2776 of file blenkernel/intern/armature.cc.

References BKE_armature_where_is_bone(), bArmature::bonebase, and LISTBASE_FOREACH.

Referenced by blo_do_versions_pre250().

BKE_armature_where_is_bone()

void BKE_armature_where_is_bone	(	Bone *	bone,
		const Bone *	bone_parent,
		bool	use_recursion )

Recursive part, calculates rest-position of entire tree of children.

Note

Used when exiting edit-mode too.

Definition at line 2738 of file blenkernel/intern/armature.cc.

References Bone::arm_mat, BKE_armature_where_is_bone(), BKE_bone_offset_matrix_get(), Bone::bone_mat, Bone::childbase, copy_m4_m3(), copy_v3_v3(), ListBase::first, Bone::head, len_v3(), Bone::length, mul_m4_m4m4(), Bone::next, Bone::roll, Bone::segments, sub_v3_v3v3(), Bone::tail, vec_roll_to_mat3(), Bone::xwidth, and Bone::zwidth.

Referenced by armature_finalize_restpose(), armature_transform_recurse(), BKE_armature_where_is(), BKE_armature_where_is_bone(), and blender::bke::tests::ArmatureDeformTestBase::create_test_armature_object().

BKE_bone_offset_matrix_get()

void BKE_bone_offset_matrix_get	(	const Bone *	bone,
		float	offs_bone[4][4] )

Simple helper, computes the offset bone matrix: offs_bone = yoffs(b-1) + root(b) + bonemat(b).

Definition at line 2057 of file blenkernel/intern/armature.cc.

References BLI_assert, Bone::bone_mat, copy_m4_m3(), copy_v3_v3(), Bone::head, Bone::length, and Bone::parent.

Referenced by applyarmature_process_selected_recursive(), BKE_armature_where_is_bone(), and BKE_bone_parent_transform_calc_from_pchan().

BKE_bone_parent_transform_apply()

void BKE_bone_parent_transform_apply	(	const BoneParentTransform *	bpt,
		const float	inmat[4][4],
		float	outmat[4][4] )

Definition at line 2268 of file blenkernel/intern/armature.cc.

References copy_v3_v3(), BoneParentTransform::loc_mat, mul_m4_m4m4(), mul_v3_m4v3(), BoneParentTransform::post_scale, rescale_m4(), and BoneParentTransform::rotscale_mat.

Referenced by applyarmature_process_selected_recursive(), BKE_armature_mat_bone_to_pose(), and BKE_armature_mat_pose_to_bone().

BKE_bone_parent_transform_calc_from_matrices()

void BKE_bone_parent_transform_calc_from_matrices	(	int	bone_flag,
		int	inherit_scale_mode,
		const float	offs_bone[4][4],
		const float	parent_arm_mat[4][4],
		const float	parent_pose_mat[4][4],
		BoneParentTransform *	r_bpt )

Compute the parent transform using data decoupled from specific data structures.

Parameters

bone_flag	Bone.flag containing settings.
offs_bone	delta from parent to current arm_mat (or just arm_mat if no parent).
parent_arm_mat	arm_mat of parent, or NULL.
parent_pose_mat	pose_mat of parent, or NULL.
r_bpt	OUTPUT parent transform.

Definition at line 2100 of file blenkernel/intern/armature.cc.

References BLI_assert_unreachable, BONE_HINGE, BONE_INHERIT_SCALE_ALIGNED, BONE_INHERIT_SCALE_AVERAGE, BONE_INHERIT_SCALE_FIX_SHEAR, BONE_INHERIT_SCALE_FULL, BONE_INHERIT_SCALE_NONE, BONE_INHERIT_SCALE_NONE_LEGACY, BONE_NO_LOCAL_LOCATION, copy_m3_m4(), copy_m4_m3(), copy_m4_m4(), copy_v3_fl(), copy_v3_v3(), fabsf, BoneParentTransform::loc_mat, mat4_to_size(), mat4_to_size_fix_shear(), mat4_to_volume_scale(), mul_m3_m3m3(), mul_m4_m4m4(), mul_mat3_m4_fl(), mul_v3_m4v3(), normalize_m4(), normalize_m4_ex(), orthogonalize_m4_stable(), BoneParentTransform::post_scale, rescale_m4(), BoneParentTransform::rotscale_mat, unit_m3(), and unit_m4().

Referenced by applyarmature_process_selected_recursive(), and BKE_bone_parent_transform_calc_from_pchan().

BKE_bone_parent_transform_calc_from_pchan()

void BKE_bone_parent_transform_calc_from_pchan	(	const bPoseChannel *	pchan,
		BoneParentTransform *	r_bpt )

Get the current parent transformation for the given pose bone.

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-key-framing). (NOTE(@mont29): I don't understand that, so I keep it :p).

Definition at line 2071 of file blenkernel/intern/armature.cc.

References Bone::arm_mat, BKE_bone_offset_matrix_get(), BKE_bone_parent_transform_calc_from_matrices(), bPoseChannel::bone, Bone::flag, Bone::inherit_scale_mode, Bone::parent, bPoseChannel::parent, and bPoseChannel::pose_mat.

Referenced by blender::ed::transform::add_pose_transdata(), BKE_armature_mat_bone_to_pose(), and BKE_armature_mat_pose_to_bone().

BKE_bone_parent_transform_clear()

void BKE_bone_parent_transform_clear

(

BoneParentTransform *

bpt

)

Definition at line 2245 of file blenkernel/intern/armature.cc.

References copy_v3_fl(), BoneParentTransform::loc_mat, BoneParentTransform::post_scale, BoneParentTransform::rotscale_mat, and unit_m4().

Referenced by applyarmature_process_selected_recursive().

BKE_bone_parent_transform_combine()

void BKE_bone_parent_transform_combine	(	const BoneParentTransform *	in1,
		const BoneParentTransform *	in2,
		BoneParentTransform *	result )

Definition at line 2259 of file blenkernel/intern/armature.cc.

References BoneParentTransform::loc_mat, mul_m4_m4m4(), mul_v3_v3v3(), BoneParentTransform::post_scale, result, and BoneParentTransform::rotscale_mat.

Referenced by applyarmature_process_selected_recursive().

BKE_bone_parent_transform_invert()

void BKE_bone_parent_transform_invert

(

BoneParentTransform *

bpt

)

Definition at line 2252 of file blenkernel/intern/armature.cc.

References invert_m4(), invert_v3_safe(), BoneParentTransform::loc_mat, BoneParentTransform::post_scale, and BoneParentTransform::rotscale_mat.

Referenced by applyarmature_process_selected_recursive(), and BKE_armature_mat_pose_to_bone().

BKE_pchan_apply_mat4()

void BKE_pchan_apply_mat4	(	bPoseChannel *	pchan,
		const float	mat[4][4],
		bool	use_compat )

Apply a 4x4 matrix to the pose bone, similar to BKE_object_apply_mat4().

Definition at line 2392 of file blenkernel/intern/armature.cc.

References BKE_pchan_mat3_to_rot(), bPoseChannel::loc, mat4_to_loc_rot_size(), rot, and bPoseChannel::scale.

Referenced by action_flip_pchan(), BKE_armature_mat_pose_to_bone_ex(), BKE_constraint_apply_for_pose(), blender::io::fbx::ArmatureImportContext::find_armatures(), blender::ed::transform::pose_transform_mirror_update(), pose_visual_transform_apply_exec(), and blender::io::usd::set_rest_pose().

BKE_pchan_bbone_deform_clamp_segment_index()

void BKE_pchan_bbone_deform_clamp_segment_index	(	const bPoseChannel *	pchan,
		float	head_tail,
		int *	r_index,
		float *	r_blend_next )

Calculate index and blend factor for the two B-Bone segment nodes affecting the specified point along the bone.

Parameters

pchan	Pose channel.
head_tail	head-tail position along the bone (auto-clamped between 0 and 1).
r_index	OUTPUT index of the first segment joint affecting the point.
r_blend_next	OUTPUT blend factor between the first and the second segment in [0..1]

Definition at line 1832 of file blenkernel/intern/armature.cc.

References blend(), bPoseChannel::bone, CLAMP, float, floorf, and Bone::segments.

Referenced by constraint_target_to_mat4(), find_bbone_segment_index_curved(), and find_bbone_segment_index_straight().

BKE_pchan_bbone_deform_segment_index()

void BKE_pchan_bbone_deform_segment_index	(	const bPoseChannel *	pchan,
		const float *	co,
		int *	r_index,
		float *	r_blend_next )

Calculate index and blend factor for the two B-Bone segment nodes affecting the specified point in object (pose) space.

Parameters

pchan	Pose channel.
co	Pose space coordinates of the point being deformed.
r_index	OUTPUT index of the first segment joint affecting the point.
r_blend_next	OUTPUT blend factor between the first and the second segment in [0..1]

Definition at line 2002 of file blenkernel/intern/armature.cc.

References bPoseChannel_Runtime::bbone_segment_boundaries, find_bbone_segment_index_curved(), find_bbone_segment_index_straight(), and bPoseChannel::runtime.

Referenced by armdef_accumulate_bone(), and blender::bke::b_bone_deform().

BKE_pchan_bbone_handles_compute()

void BKE_pchan_bbone_handles_compute	(	const BBoneSplineParameters *	param,
		float	h1[3],
		float *	r_roll1,
		float	h2[3],
		float *	r_roll2,
		bool	ease,
		bool	offsets )

Computes the bezier handle vectors and rolls coming from custom handles.

Definition at line 1380 of file blenkernel/intern/armature.cc.

References copy_m3_m4(), copy_v3_fl3(), copy_v3_v3(), cubic_tangent_factor_circle_v3(), BBoneSplineParameters::curve_in_x, BBoneSplineParameters::curve_in_z, BBoneSplineParameters::curve_out_x, BBoneSplineParameters::curve_out_z, BBoneSplineParameters::do_scale, e, BBoneSplineParameters::ease1, BBoneSplineParameters::ease2, BBoneSplineParameters::length, length(), mat3_vec_to_roll(), mul_v3_fl(), negate_v3(), BBoneSplineParameters::next_bbone, BBoneSplineParameters::next_h, BBoneSplineParameters::next_mat, normalize_v3(), BBoneSplineParameters::prev_bbone, BBoneSplineParameters::prev_h, BBoneSplineParameters::prev_mat, BBoneSplineParameters::roll1, BBoneSplineParameters::roll2, BBoneSplineParameters::scale, BBoneSplineParameters::use_next, and BBoneSplineParameters::use_prev.

Referenced by BKE_pchan_bbone_spline_compute().

BKE_pchan_bbone_handles_get()

void BKE_pchan_bbone_handles_get	(	bPoseChannel *	pchan,
		bPoseChannel **	r_prev,
		bPoseChannel **	r_next )

Get "next" and "prev" bones - these are used for handle calculations.

Definition at line 1095 of file blenkernel/intern/armature.cc.

References BBONE_HANDLE_AUTO, bPoseChannel::bbone_next, Bone::bbone_next_type, bPoseChannel::bbone_prev, Bone::bbone_prev_type, bPoseChannel::bone, BONE_CONNECTED, bPoseChannel::child, Bone::flag, and bPoseChannel::parent.

Referenced by BKE_pchan_bbone_spline_params_get(), and blender::deg::DepsgraphRelationBuilder::build_rig().

BKE_pchan_bbone_segments_cache_compute()

void BKE_pchan_bbone_segments_cache_compute

(

bPoseChannel *

pchan

)

Compute and cache the B-Bone shape in the channel runtime struct.

Definition at line 1737 of file blenkernel/intern/armature.cc.

References allocate_bbone_cache(), Bone::arm_mat, bPoseChannel_Runtime::bbone_deform_mats, bPoseChannel_Runtime::bbone_dual_quats, BBONE_MAPPING_CURVED, Bone::bbone_mapping_mode, bPoseChannel_Runtime::bbone_pose_mats, bPoseChannel_Runtime::bbone_rest_mats, bPoseChannel_Runtime::bbone_segment_boundaries, BKE_pchan_bbone_spline_setup(), BLI_assert, bPoseChannel::bone, bPoseChannel::chan_mat, compute_bbone_segment_boundaries(), invert_m4_m4(), Mat4::mat, mat4_to_dquat(), mul_m4_m4m4(), mul_m4_series, normalize_m4(), bPoseChannel::runtime, and Bone::segments.

Referenced by BKE_pose_eval_bbone_segments().

BKE_pchan_bbone_segments_cache_copy()

void BKE_pchan_bbone_segments_cache_copy	(	bPoseChannel *	pchan,
		bPoseChannel *	pchan_from )

Copy cached B-Bone segments from one channel to another.

Definition at line 1796 of file blenkernel/intern/armature.cc.

References allocate_bbone_cache(), bPoseChannel_Runtime::bbone_arc_length_reciprocal, bPoseChannel_Runtime::bbone_deform_mats, bPoseChannel_Runtime::bbone_dual_quats, bPoseChannel_Runtime::bbone_pose_mats, bPoseChannel_Runtime::bbone_rest_mats, bPoseChannel_Runtime::bbone_segment_boundaries, bPoseChannel_Runtime::bbone_segments, BKE_pose_channel_free_bbone_cache(), BLI_assert, and bPoseChannel::runtime.

Referenced by BKE_pose_eval_bbone_segments().

BKE_pchan_bbone_spline_compute()

int BKE_pchan_bbone_spline_compute	(	BBoneSplineParameters *	param,
		bool	for_deform,
		Mat4 *	result_array )

Fills the array with the desired amount of bone->segments elements. This calculation is done within unit bone space.

Definition at line 1540 of file blenkernel/intern/armature.cc.

References add_v3_v3v3(), BKE_pchan_bbone_handles_compute(), CLAMP_MAX, CLAMP_MIN, copy_v3_fl3(), copy_v3_v3(), BBoneSplineParameters::do_scale, ease_handle_axis(), equalize_cubic_bezier(), evaluate_cubic_bezier(), expf, float, i, interpf(), invert_m4_m4(), BBoneSplineParameters::length, length(), logf, make_bbone_spline_matrix(), Mat4::mat, MAX_BBONE_SUBDIV, negate_v3(), BBoneSplineParameters::scale, BBoneSplineParameters::scale_in, BBoneSplineParameters::scale_out, BBoneSplineParameters::segments, size_to_mat4(), sub_v3_v3v3(), and zero_v3().

Referenced by BKE_pchan_bbone_spline_setup(), and ebone_spline_preview().

BKE_pchan_bbone_spline_params_get()

void BKE_pchan_bbone_spline_params_get	(	bPoseChannel *	pchan,
		bool	rest,
		BBoneSplineParameters *	param )

Compute B-Bone spline parameters for the given channel.

Definition at line 1121 of file blenkernel/intern/armature.cc.

References add_v3_v3v3(), Bone::arm_head, Bone::arm_mat, Bone::arm_tail, BBONE_ADD_PARENT_END_ROLL, Bone::bbone_flag, BBONE_HANDLE_RELATIVE, BBONE_HANDLE_SCALE_ANY, BBONE_HANDLE_SCALE_EASE, BBONE_HANDLE_SCALE_X, BBONE_HANDLE_SCALE_Y, BBONE_HANDLE_SCALE_Z, BBONE_HANDLE_TANGENT, Bone::bbone_next_flag, Bone::bbone_next_type, Bone::bbone_prev_flag, Bone::bbone_prev_type, BBONE_SCALE_EASING, BKE_armature_mat_pose_to_bone(), BKE_pchan_bbone_handles_get(), bPoseChannel::bone, copy_m4_m4(), copy_v3_fl(), copy_v3_fl3(), copy_v3_v3(), BBoneSplineParameters::curve_in_x, Bone::curve_in_x, bPoseChannel::curve_in_x, BBoneSplineParameters::curve_in_z, Bone::curve_in_z, bPoseChannel::curve_in_z, BBoneSplineParameters::curve_out_x, Bone::curve_out_x, bPoseChannel::curve_out_x, BBoneSplineParameters::curve_out_z, Bone::curve_out_z, bPoseChannel::curve_out_z, BBoneSplineParameters::do_scale, BBoneSplineParameters::ease1, Bone::ease1, bPoseChannel::ease1, BBoneSplineParameters::ease2, Bone::ease2, bPoseChannel::ease2, fabsf, invert_m4_m4(), BBoneSplineParameters::length, Bone::length, mat4_to_size(), mul_m4_m4m4(), mul_v3_m4v3(), mul_v3_v3(), next, BBoneSplineParameters::next_bbone, BBoneSplineParameters::next_h, BBoneSplineParameters::next_mat, normalize_m4(), bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, BBoneSplineParameters::prev_bbone, BBoneSplineParameters::prev_h, BBoneSplineParameters::prev_mat, BBoneSplineParameters::roll1, Bone::roll1, bPoseChannel::roll1, BBoneSplineParameters::roll2, Bone::roll2, bPoseChannel::roll2, BBoneSplineParameters::scale, BBoneSplineParameters::scale_in, Bone::scale_in, bPoseChannel::scale_in, BBoneSplineParameters::scale_out, Bone::scale_out, bPoseChannel::scale_out, BBoneSplineParameters::segments, Bone::segments, sub_v3_v3v3(), BBoneSplineParameters::use_next, BBoneSplineParameters::use_prev, and zero_v3().

Referenced by BKE_pchan_bbone_spline_setup().

BKE_pchan_bbone_spline_setup()

void BKE_pchan_bbone_spline_setup	(	bPoseChannel *	pchan,
		bool	rest,
		bool	for_deform,
		Mat4 *	result_array )

Fills the array with the desired amount of bone->segments elements. This calculation is done within unit bone space.

Definition at line 1368 of file blenkernel/intern/armature.cc.

References BKE_pchan_bbone_spline_compute(), BKE_pchan_bbone_spline_params_get(), bPoseChannel::bone, and Bone::segments.

Referenced by add_verts_to_dgroups(), BKE_pchan_bbone_segments_cache_compute(), and draw_bone_update_disp_matrix_bbone().

BKE_pchan_calc_mat()

void BKE_pchan_calc_mat

(

bPoseChannel *

pchan

)

Convert the loc/rot/size to mat4 (pchan.chan_mat), used in constraint.cc too.

Definition at line 2973 of file blenkernel/intern/armature.cc.

References BKE_pchan_to_mat4(), and bPoseChannel::chan_mat.

Referenced by actcon_get_tarmat(), BKE_pose_where_is_bone(), and blender::bke::tests::ArmatureDeformTestBase::update_pose_matrices().

BKE_pchan_mat3_to_rot()

void BKE_pchan_mat3_to_rot	(	bPoseChannel *	pchan,
		const float	mat[3][3],
		bool	use_compat )

Same as BKE_object_mat3_to_rot().

Definition at line 2346 of file blenkernel/intern/armature.cc.

References BLI_ASSERT_UNIT_M3, bPoseChannel::eul, mat3_normalized_to_axis_angle(), mat3_normalized_to_compatible_eulO(), mat3_normalized_to_eulO(), mat3_normalized_to_quat(), bPoseChannel::quat, ROT_MODE_AXISANGLE, ROT_MODE_QUAT, bPoseChannel::rotAngle, bPoseChannel::rotAxis, and bPoseChannel::rotmode.

Referenced by blender::ed::transform::apply_targetless_ik(), BKE_pchan_apply_mat4(), and snap_selected_to_location_rotation().

BKE_pchan_minmax()

void BKE_pchan_minmax	(	const Object *	ob,
		const bPoseChannel *	pchan,
		const bool	use_empty_drawtype,
		blender::float3 &	r_min,
		blender::float3 &	r_max )

Calculate the axis-aligned bounds of pchan in object-space, taking into account custom transform when set.

r_min and r_max are expanded to fit pchan so the caller must initialize them (typically using INIT_MINMAX).

Note

The bounds are calculated based on the head & tail of the bone or the custom object's bounds (if the bone uses a custom object). Visual elements such as the envelopes radius & bendy-bone spline segments are not included, making this not so useful for viewport culling.

Parameters

use_empty_drawtype

When enabled, the draw type of empty custom-objects is taken into account when calculating the bounds.

Definition at line 3142 of file blenkernel/intern/armature.cc.

References ARM_NO_CUSTOM, BKE_object_boundbox_get(), BKE_object_minmax_empty_drawtype(), BLI_assert, copy_m4_m4(), bPoseChannel::custom, bPoseChannel::custom_rotation_euler, bPoseChannel::custom_scale_xyz, bPoseChannel::custom_translation, bPoseChannel::custom_tx, Object::data, eulO_to_mat4(), bArmature::flag, blender::Bounds< T >::max, blender::math::max(), max, blender::Bounds< T >::min, blender::math::min(), min, minmax_v3v3_v3(), mul_m4_series, OB_ARMATURE, OB_EMPTY, PCHAN_CUSTOM_BONE_LENGTH, bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, blender::MatBase< T, NumCol, NumRow, Alignment >::ptr(), rescale_m4(), ROT_MODE_XYZ, scale_m4_fl(), blender::bounds::transform_bounds(), translate_m4(), and Object::type.

Referenced by BKE_pose_minmax().

BKE_pchan_protected_location_set()

void BKE_pchan_protected_location_set	(	bPoseChannel *	pchan,
		const float	location[3] )

Sets the location of the pose channel, respecting bPoseChannel::protectflag.

Definition at line 2470 of file blenkernel/intern/armature.cc.

References bPoseChannel::loc, OB_LOCK_LOCX, OB_LOCK_LOCY, OB_LOCK_LOCZ, and bPoseChannel::protectflag.

Referenced by snap_sel_to_grid_exec(), and snap_selected_to_location_rotation().

BKE_pchan_protected_rotation_axisangle_set()

void BKE_pchan_protected_rotation_axisangle_set	(	bPoseChannel *	pchan,
		const float	axis[3],
		float	angle )

Sets the axis-angle rotation of the pose channel, respecting bPoseChannel::protectflag.

Definition at line 2525 of file blenkernel/intern/armature.cc.

References angle(), OB_LOCK_ROTW, OB_LOCK_ROTX, OB_LOCK_ROTY, OB_LOCK_ROTZ, bPoseChannel::protectflag, bPoseChannel::rotAngle, and bPoseChannel::rotAxis.

Referenced by snap_selected_to_location_rotation().

BKE_pchan_protected_rotation_euler_set()

void BKE_pchan_protected_rotation_euler_set	(	bPoseChannel *	pchan,
		const float	rotation_euler[3] )

Sets the euler rotation of the pose channel, respecting bPoseChannel::protectflag.

Definition at line 2512 of file blenkernel/intern/armature.cc.

References bPoseChannel::eul, OB_LOCK_ROTX, OB_LOCK_ROTY, OB_LOCK_ROTZ, and bPoseChannel::protectflag.

Referenced by snap_selected_to_location_rotation().

BKE_pchan_protected_rotation_quaternion_set()

void BKE_pchan_protected_rotation_quaternion_set	(	bPoseChannel *	pchan,
		const float	quat[4] )

Sets the quaternion rotation of the pose channel, respecting bPoseChannel::protectflag.

Definition at line 2496 of file blenkernel/intern/armature.cc.

References OB_LOCK_ROTW, OB_LOCK_ROTX, OB_LOCK_ROTY, OB_LOCK_ROTZ, bPoseChannel::protectflag, and bPoseChannel::quat.

Referenced by snap_selected_to_location_rotation().

BKE_pchan_protected_scale_set()

void BKE_pchan_protected_scale_set	(	bPoseChannel *	pchan,
		const float	scale[3] )

Sets the location of the pose channel, respecting bPoseChannel::protectflag.

Definition at line 2483 of file blenkernel/intern/armature.cc.

References OB_LOCK_SCALEX, OB_LOCK_SCALEY, OB_LOCK_SCALEZ, bPoseChannel::protectflag, and bPoseChannel::scale.

BKE_pchan_rebuild_bbone_handles()

void BKE_pchan_rebuild_bbone_handles	(	bPose *	pose,
		bPoseChannel *	pchan )

Update the links for the B-Bone handles from Bone data.

Definition at line 2863 of file blenkernel/intern/armature.cc.

References Bone::bbone_next, bPoseChannel::bbone_next, Bone::bbone_prev, bPoseChannel::bbone_prev, bPoseChannel::bone, and pose_channel_find_bone().

Referenced by BKE_pose_rebuild().

BKE_pchan_rot_to_mat3()

void BKE_pchan_rot_to_mat3	(	const bPoseChannel *	pchan,
		float	r_mat[3][3] )

Same as BKE_object_rot_to_mat3().

Definition at line 2368 of file blenkernel/intern/armature.cc.

References axis_angle_to_mat3(), bPoseChannel::eul, eulO_to_mat3(), normalize_qt_qt(), bPoseChannel::quat, quat_to_mat3(), ROT_MODE_AXISANGLE, bPoseChannel::rotAngle, bPoseChannel::rotAxis, and bPoseChannel::rotmode.

Referenced by blender::ed::transform::apply_targetless_ik(), and BKE_pchan_to_mat4().

BKE_pchan_to_mat4()

void BKE_pchan_to_mat4	(	const bPoseChannel *	pchan,
		float	r_chanmat[4][4] )

Convert the loc/rot/size to r_chanmat (typically bPoseChannel.chan_mat).

Definition at line 2950 of file blenkernel/intern/armature.cc.

References BKE_pchan_rot_to_mat3(), bPoseChannel::bone, BONE_CONNECTED, copy_m4_m3(), copy_v3_v3(), Bone::flag, bPoseChannel::loc, mul_m3_m3m3(), bPoseChannel::scale, and size_to_mat3().

Referenced by action_flip_pchan(), BKE_pchan_calc_mat(), dvar_eval_transChan(), blender::ed::transform::pose_mirror_info_init(), and blender::ed::transform::pose_transform_mirror_update().

BKE_pose_bone_done()

void BKE_pose_bone_done	(	Depsgraph *	depsgraph,
		Object *	object,
		int	pchan_index )

Definition at line 945 of file armature_update.cc.

References Bone::arm_mat, BKE_pose_channel_free_bbone_cache(), bPoseChannel::bone, BONE_NO_DEFORM, bPoseChannel::chan_mat, Object::data, bPoseChannel_Runtime::deform_dual_quat, DEG_debug_print_eval_subdata(), DEG_is_active(), depsgraph, bArmature::edbo, Bone::flag, Object::id, invert_m4_m4(), mat4_to_dquat(), mul_m4_m4m4(), bPoseChannel::name, ID::name, bPoseChannel::orig_pchan, pose_channel_flush_to_orig_if_needed(), bPoseChannel::pose_mat, pose_pchan_get_indexed(), bPoseChannel::runtime, and Bone::segments.

BKE_pose_channels_clear_with_null_bone()

void BKE_pose_channels_clear_with_null_bone	(	bPose *	pose,
		bool	do_id_user )

Definition at line 2869 of file blenkernel/intern/armature.cc.

References BKE_pose_channel_free_ex(), BKE_pose_channels_hash_free(), BLI_freelinkN(), bPose::chanbase, and LISTBASE_FOREACH_MUTABLE.

Referenced by BKE_pose_rebuild(), and blender::ed::object::editmode_load_free_ex().

BKE_pose_clear_pointers()

void BKE_pose_clear_pointers

(

bPose *

pose

)

Clear pointers of object's pose (needed in remap case, since we cannot always wait for a complete pose rebuild).

Definition at line 2842 of file blenkernel/intern/armature.cc.

References bPose::chanbase, and LISTBASE_FOREACH.

Referenced by BKE_lib_override_library_update(), BKE_pose_rebuild(), and libblock_remap_data_preprocess_ob().

BKE_pose_constraints_evaluate()

void BKE_pose_constraints_evaluate	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object,
		int	pchan_index )

Definition at line 898 of file armature_update.cc.

References ARM_RESTPOS, BKE_pose_where_is_bone(), BKE_scene_ctime_get(), Object::data, DEG_debug_print_eval_subdata(), depsgraph, bArmature::edbo, bArmature::flag, bPoseChannel::flag, Object::id, bPoseChannel::name, ID::name, POSE_DONE, POSE_IKSPLINE, POSE_IKTREE, and pose_pchan_get_indexed().

BKE_pose_ensure()

void BKE_pose_ensure	(	Main *	bmain,
		Object *	ob,
		bArmature *	arm,
		bool	do_id_user )

Ensures object's pose is rebuilt if needed.

Parameters

bmain

May be NULL, only used to tag depsgraph as being dirty.

Definition at line 2935 of file blenkernel/intern/armature.cc.

References BKE_pose_rebuild(), BLI_assert, ELEM, bPose::flag, GS, bArmature::id, ID_AR, ID::name, OB_ARMATURE, Object::pose, POSE_RECALC, and Object::type.

Referenced by BKE_lib_override_library_main_operations_create(), BKE_lib_override_library_status_check_local(), BKE_lib_override_library_status_check_reference(), BKE_pose_where_is(), blender::bke::tests::ArmatureDeformTestBase::create_test_armature_object(), lib_override_library_operations_create(), RNA_struct_override_matches(), blender::io::usd::set_rest_pose(), blender::animrig::tests::KeyframingTest::SetUp(), blender::animrig::tests::PoseTest::SetUp(), blender::editor::animation::tests::KeylistSummaryTest::SetUp(), blender::ed::animation::tests::TEST_F(), and version_bonegroup_migrate_color().

BKE_pose_eval_bbone_segments()

void BKE_pose_eval_bbone_segments	(	Depsgraph *	depsgraph,
		Object *	object,
		int	pchan_index )

Definition at line 974 of file armature_update.cc.

References BKE_pchan_bbone_segments_cache_compute(), BKE_pchan_bbone_segments_cache_copy(), bPoseChannel::bone, Object::data, DEG_debug_print_eval_subdata(), DEG_is_active(), depsgraph, bArmature::edbo, Object::id, bPoseChannel::name, ID::name, bPoseChannel::orig_pchan, pose_pchan_get_indexed(), and Bone::segments.

BKE_pose_eval_bone()

void BKE_pose_eval_bone	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object,
		int	pchan_index )

Definition at line 862 of file armature_update.cc.

References Bone::arm_head, Bone::arm_mat, ARM_RESTPOS, Bone::arm_tail, BKE_pose_where_is_bone(), BKE_scene_ctime_get(), BLI_assert, bPoseChannel::bone, bPoseChannel::constraints, copy_m4_m4(), copy_v3_v3(), Object::data, DEG_debug_print_eval_subdata(), depsgraph, bArmature::edbo, ListBase::first, bArmature::flag, bPoseChannel::flag, Object::id, bPoseChannel::name, ID::name, OB_ARMATURE, POSE_DONE, bPoseChannel::pose_head, POSE_IKSPLINE, POSE_IKTREE, bPoseChannel::pose_mat, pose_pchan_get_indexed(), bPoseChannel::pose_tail, and Object::type.

BKE_pose_eval_cleanup()

void BKE_pose_eval_cleanup	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object )

Definition at line 1049 of file armature_update.cc.

References BIK_release_tree(), BKE_scene_ctime_get(), BLI_assert, DEG_debug_print_eval(), depsgraph, Object::id, ID::name, OB_ARMATURE, pose_eval_cleanup_common(), Object::type, and UNUSED_VARS_NDEBUG.

BKE_pose_eval_done()

void BKE_pose_eval_done	(	Depsgraph *	depsgraph,
		Object *	object )

Definition at line 1040 of file armature_update.cc.

References BLI_assert, DEG_debug_print_eval(), depsgraph, Object::id, ID::name, OB_ARMATURE, Object::type, and UNUSED_VARS_NDEBUG.

BKE_pose_eval_init()

void BKE_pose_eval_init	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object )

Definition at line 814 of file armature_update.cc.

References BKE_pose_channel_free_bbone_cache(), BLI_assert, BLI_listbase_is_empty(), bPose::chan_array, bPose::chanbase, DEG_debug_print_eval(), depsgraph, ListBase::first, bPose::flag, Object::id, invert_m4_m4(), ID::name, bPoseChannel::next, OB_ARMATURE, Object::pose, POSE_CHAIN, POSE_DONE, POSE_IKSPLINE, POSE_IKTREE, POSE_RECALC, Object::runtime, and Object::type.

BKE_pose_eval_init_ik()

void BKE_pose_eval_init_ik	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object )

Definition at line 845 of file armature_update.cc.

References ARM_RESTPOS, BIK_init_tree(), BKE_pose_splineik_init_tree(), BKE_scene_ctime_get(), BLI_assert, Object::data, DEG_debug_print_eval(), depsgraph, bArmature::flag, Object::id, ID::name, OB_ARMATURE, and Object::type.

BKE_pose_iktree_evaluate()

void BKE_pose_iktree_evaluate	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object,
		int	rootchan_index )

Definition at line 991 of file armature_update.cc.

References ARM_RESTPOS, BIK_execute_tree(), BKE_scene_ctime_get(), BLI_assert, Object::data, DEG_debug_print_eval_subdata(), depsgraph, bArmature::edbo, bArmature::flag, Object::id, bPoseChannel::name, ID::name, OB_ARMATURE, pose_pchan_get_indexed(), and Object::type.

BKE_pose_minmax()

std::optional< blender::Bounds< blender::float3 > > BKE_pose_minmax	(	const Object *	ob,
		bool	use_select )

Calculate the axis aligned bounds of the pose of ob in object-space.

This only considers visible bones. When they are either directly (via a flag on the bone) or indirectly (via bone collections) hidden, they are not part of the bounds calculation. When a bone has a custom bone shape, that is included in the bounding box.

Note

This uses BKE_pchan_minmax, see its documentation for details on bounds calculation.

Parameters

use_select

When true, only consider selected bones. When false, selection state is ignored and all bones are included in the bounds.

Definition at line 3199 of file blenkernel/intern/armature.cc.

References BKE_pchan_minmax(), BLI_assert, blender::animrig::bone_is_selected(), blender::animrig::bone_is_visible(), bPose::chanbase, Object::data, LISTBASE_FOREACH, max, min, OB_ARMATURE, Object::pose, and Object::type.

Referenced by BKE_armature_min_max(), and view3d_calc_minmax_selected().

BKE_pose_pchan_index_rebuild()

void BKE_pose_pchan_index_rebuild

(

bPose *

pose

)

Definition at line 791 of file armature_update.cc.

References BLI_listbase_count(), bPose::chan_array, bPose::chanbase, ListBase::first, MEM_malloc_arrayN(), MEM_SAFE_FREE, and bPoseChannel::next.

BKE_pose_rebuild()

void BKE_pose_rebuild	(	Main *	bmain,
		Object *	ob,
		bArmature *	arm,
		bool	do_id_user )

Only after leave edit-mode, duplicating, validating older files, library syncing.

Note

pose->flag is set for it.

Parameters

bmain

May be NULL, only used to tag depsgraph as being dirty.

Definition at line 2880 of file blenkernel/intern/armature.cc.

References animviz_settings_init(), bPose::avs, BKE_pchan_rebuild_bbone_handles(), BKE_pose_channels_clear_with_null_bone(), BKE_pose_channels_hash_ensure(), BKE_pose_clear_pointers(), BKE_pose_update_constraint_flags(), BLI_findindex(), bArmature::bonebase, bPose::chanbase, DEG_relations_tag_update(), bPose::flag, LISTBASE_FOREACH, MEM_callocN(), Object::pose, POSE_RECALC, POSE_WAS_REBUILT, and rebuild_pose_bone().

Referenced by add_verts_to_dgroups(), BKE_library_make_local(), BKE_object_handle_update_ex(), BKE_pose_ensure(), blender::deg::DepsgraphNodeBuilder::build_rig(), do_versions_after_linking_290(), do_versions_after_linking_500(), ED_armature_from_edit(), blender::ed::object::make_links_data_exec(), object_copy_data(), and blender::ed::object::single_obdata_users().

BKE_pose_remap_bone_pointers()

void BKE_pose_remap_bone_pointers	(	bArmature *	armature,
		bPose *	pose )

Definition at line 2850 of file blenkernel/intern/armature.cc.

References BKE_armature_find_bone_name(), bPose::chanbase, and LISTBASE_FOREACH.

BKE_pose_splineik_evaluate()

void BKE_pose_splineik_evaluate	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	object,
		int	rootchan_index )

Definition at line 1011 of file armature_update.cc.

References ARM_RESTPOS, BKE_scene_ctime_get(), BKE_splineik_execute_tree(), BLI_assert, Object::data, DEG_debug_print_eval_subdata(), depsgraph, bArmature::edbo, bArmature::flag, Object::id, bPoseChannel::name, ID::name, OB_ARMATURE, pose_pchan_get_indexed(), and Object::type.

BKE_pose_splineik_init_tree()

void BKE_pose_splineik_init_tree	(	Scene *	scene,
		Object *	ob,
		float	ctime )

Definition at line 778 of file armature_update.cc.

References splineik_init_tree().

Referenced by BKE_pose_eval_init_ik(), and BKE_pose_where_is().

BKE_pose_where_is()

void BKE_pose_where_is	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	ob )

Note

This is the only function adding poses.

This only reads anim data from channels, and writes to channels.

Definition at line 3054 of file blenkernel/intern/armature.cc.

References Bone::arm_head, Bone::arm_mat, ARM_RESTPOS, Bone::arm_tail, BIK_execute_tree(), BIK_init_tree(), BIK_release_tree(), BKE_pose_ensure(), BKE_pose_splineik_init_tree(), BKE_pose_where_is_bone(), BKE_scene_ctime_get(), BKE_splineik_execute_tree(), bPose::chanbase, copy_m4_m4(), copy_v3_v3(), Object::data, depsgraph, bArmature::edbo, ELEM, bArmature::flag, invert_m4_m4(), LISTBASE_FOREACH, mul_m4_m4m4(), OB_ARMATURE, Object::pose, POSE_CHAIN, POSE_DONE, POSE_IKSPLINE, POSE_IKTREE, Object::runtime, and Object::type.

Referenced by apply_armature_pose2bones_exec(), blender::ed::object::apply_objects_internal(), BKE_object_handle_data_update(), BKE_object_modifier_update_subframe(), blender::ed::object::object_origin_set_exec(), and blender::ed::transform::special_aftertrans_update__pose().

BKE_pose_where_is_bone()

void BKE_pose_where_is_bone	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	ob,
		bPoseChannel *	pchan,
		float	ctime,
		bool	do_extra )

The main armature solver, does all constraints excluding IK.

Parameters

pchan	pose-channel - validated, as having bone and parent pointer.
do_extra	when zero skips loc/size/rot, constraints and strip modifiers.

Definition at line 2990 of file blenkernel/intern/armature.cc.

References add_v3_v3(), BKE_armature_mat_bone_to_pose(), BKE_constraints_clear_evalob(), BKE_constraints_make_evalob(), BKE_constraints_solve(), BKE_pchan_calc_mat(), BKE_pose_where_is_bone_tail(), bPoseChannel::bone, BONE_CONNECTED, BONE_NO_CYCLICOFFSET, bPoseChannel::chan_mat, CONSTRAINT_OBTYPE_BONE, bPoseChannel::constraints, copy_v3_v3(), bPose::cyclic_offset, depsgraph, ListBase::first, Bone::flag, bPoseChannel::parent, Object::pose, bPoseChannel::pose_head, bPoseChannel::pose_mat, and unit_m4().

Referenced by BKE_armature_mat_pose_to_bone_ex(), BKE_pose_constraints_evaluate(), BKE_pose_eval_bone(), BKE_pose_where_is(), convert_channels(), execute_scene(), iksolver_execute_tree(), and splineik_execute_tree().

BKE_pose_where_is_bone_tail()

void BKE_pose_where_is_bone_tail

(

bPoseChannel *

pchan

)

Calculate tail of pose-channel.

Definition at line 2981 of file blenkernel/intern/armature.cc.

References add_v3_v3v3(), bPoseChannel::bone, copy_v3_v3(), Bone::length, mul_v3_fl(), bPoseChannel::pose_head, bPoseChannel::pose_mat, and bPoseChannel::pose_tail.

Referenced by BKE_pose_where_is_bone(), and splineik_evaluate_bone().

BKE_rotMode_change_values()

void BKE_rotMode_change_values	(	float	quat[4],
		float	eul[3],
		float	axis[3],
		float *	angle,
		short	oldMode,
		short	newMode )

Rotation Mode Conversions - Used for Pose-Channels + Objects.

Called from RNA when rotation mode changes

• the result should be that the rotations given in the provided pointers have had conversions applied (as appropriate), such that the rotation of the element hasn't 'visually' changed.

Definition at line 2417 of file blenkernel/intern/armature.cc.

References angle(), axis_angle_to_eulO(), axis_angle_to_quat(), eulO_to_axis_angle(), eulO_to_quat(), IS_EQF, normalize_qt(), quat_to_axis_angle(), quat_to_eulO(), ROT_MODE_AXISANGLE, and ROT_MODE_QUAT.

Referenced by pose_bone_rotmode_exec().

BKE_splineik_execute_tree()

void BKE_splineik_execute_tree	(	Depsgraph *	depsgraph,
		Scene *	scene,
		Object *	ob,
		bPoseChannel *	pchan_root,
		float	ctime )

Definition at line 783 of file armature_update.cc.

References depsgraph, and splineik_execute_tree().

Referenced by BKE_pose_splineik_evaluate(), and BKE_pose_where_is().

bone_autoside_name()

bool bone_autoside_name	(	char	name[64],
		int	strip_number,
		short	axis,
		float	head,
		float	tail )

Finds the best possible extension to the name on a particular axis. (For renaming, check for unique names afterwards)

Parameters

strip_number	removes number extensions (TODO: not used).
axis	The axis to name on.
head	The head coordinate of the bone on the specified axis.
tail	The tail coordinate of the bone on the specified axis.

References depsgraph, flag, name, and nor.

Referenced by armature_autoside_names_exec(), and pose_autoside_names_exec().

distfactor_to_bone()

float distfactor_to_bone	(	const blender::float3 &	position,
		const blender::float3 &	head,
		const blender::float3 &	tail,
		float	radius_head,
		float	radius_tail,
		float	falloff_distance )

Bone influence factor from envelope distance.

Definition at line 73 of file armature_deform.cc.

References bone_envelope_falloff(), blender::math::distance_squared(), blender::math::dot(), blender::math::interpolate(), and blender::math::normalize_and_get_length().

Referenced by blender::ed::greasepencil::add_armature_envelope_weights(), blender::bke::armature_vert_task_with_mixer(), armdef_accumulate_bone(), blender::bke::dist_bone_deform(), and envelope_bone_weighting().

mat3_to_vec_roll()

void mat3_to_vec_roll	(	const float	mat[3][3],
		float	r_vec[3],
		float *	r_roll )

Computes vector and roll based on a rotation. "mat" must contain only a rotation, and no scaling.

Definition at line 2569 of file blenkernel/intern/armature.cc.

References copy_v3_v3(), and mat3_vec_to_roll().

Referenced by armature_transform_recurse(), correct_bone_roll_value(), do_version_bone_roll_256(), ED_armature_ebone_from_mat3(), and ED_armature_edit_transform().

mat3_vec_to_roll()

void mat3_vec_to_roll	(	const float	mat[3][3],
		const float	vec[3],
		float *	r_roll )

Computes roll around the vector that best approximates the matrix. If vec is the Y vector from purely rotational mat, result should be exact.

Definition at line 2580 of file blenkernel/intern/armature.cc.

References invert_m3_m3(), mat3_to_quat(), mul_m3_m3m3(), quat_split_swing_and_twist(), and vec_roll_to_mat3().

Referenced by applyarmature_set_edit_position(), BKE_pchan_bbone_handles_compute(), mat3_to_vec_roll(), blender::bke::tests::TEST(), and blender::bke::tests::TEST().

vec_roll_to_mat3()

void vec_roll_to_mat3	(	const float	vec[3],
		float	roll,
		float	r_mat[3][3] )

Definition at line 2724 of file blenkernel/intern/armature.cc.

References nor, normalize_v3_v3(), and vec_roll_to_mat3_normalized().

Referenced by applyarmature_adjust_edit_position(), applyarmature_set_edit_position(), armature_transform_recurse(), BKE_armature_where_is_bone(), correct_bone_roll_value(), make_bbone_spline_matrix(), and mat3_vec_to_roll().

vec_roll_to_mat3_normalized()

void vec_roll_to_mat3_normalized	(	const float	nor[3],
		float	roll,
		float	r_mat[3][3] )

Calculates the rest matrix of a bone based on its vector and a roll around that vector.

Given v = (v.x, v.y, v.z) our (normalized) bone vector, we want the rotation matrix M from the Y axis (so that M * (0, 1, 0) = v).

• The rotation axis a lays on XZ plane, and it is orthonormal to v, hence to the projection of v onto XZ plane.
• a = (v.z, 0, -v.x)

We know a is eigenvector of M (so M * a = a). Finally, we have w, such that M * w = (0, 1, 0) (i.e. the vector that will be aligned with Y axis once transformed). We know w is symmetric to v by the Y axis.

• w = (-v.x, v.y, -v.z)

Solving this, we get (x, y and z being the components of v):

    ┌ (x^2 * y + z^2) / (x^2 + z^2),   x,   x * z * (y - 1) / (x^2 + z^2) ┐
M = │  x * (y^2 - 1)  / (x^2 + z^2),   y,    z * (y^2 - 1)  / (x^2 + z^2) │
    └ x * z * (y - 1) / (x^2 + z^2),   z,   (x^2 + z^2 * y) / (x^2 + z^2) ┘

This is stable as long as v (the bone) is not too much aligned with +/-Y (i.e. x and z components are not too close to 0).

Since v is normalized, we have x^2 + y^2 + z^2 = 1, hence x^2 + z^2 = 1 - y^2 = (1 - y)(1 + y).

This allows to simplifies M like this:

    ┌ 1 - x^2 / (1 + y),   x,     -x * z / (1 + y) ┐
M = │                -x,   y,                   -z │
    └  -x * z / (1 + y),   z,    1 - z^2 / (1 + y) ┘

Written this way, we see the case v = +Y is no more a singularity. The only one remaining is the bone being aligned with -Y.

Let's handle the asymptotic behavior when bone vector is reaching the limit of y = -1. Each of the four corner elements can vary from -1 to 1, depending on the axis a chosen for doing the rotation. And the "rotation" here is in fact established by mirroring XZ plane by that given axis, then inversing the Y-axis. For sufficiently small x and z, and with y approaching -1, all elements but the four corner ones of M will degenerate. So let's now focus on these corner elements.

We rewrite M so that it only contains its four corner elements, and combine the 1 / (1 + y) factor:

                   ┌ 1 + y - x^2,        -x * z ┐
M* = 1 / (1 + y) * │                            │
                   └      -x * z,   1 + y - z^2 ┘

When y is close to -1, computing 1 / (1 + y) will cause severe numerical instability, so we use a different approach based on x and z as inputs. We know y^2 = 1 - (x^2 + z^2), and y < 0, hence y = -sqrt(1 - (x^2 + z^2)).

Since x and z are both close to 0, we apply the binomial expansion to the second order: y = -sqrt(1 - (x^2 + z^2)) = -1 + (x^2 + z^2) / 2 + (x^2 + z^2)^2 / 8, which allows eliminating the problematic 1 constant.

A first order expansion allows simplifying to this, but second order is more precise:

                       ┌  z^2 - x^2,  -2 * x * z ┐
M* = 1 / (x^2 + z^2) * │                         │
                       └ -2 * x * z,   x^2 - z^2 ┘

P.S. In the end, this basically is a heavily optimized version of Damped Track +Y.

Definition at line 2595 of file blenkernel/intern/armature.cc.

References axis_angle_normalized_to_mat3(), BLI_ASSERT_UNIT_V3, mul_m3_m3m3(), nor, unit_m3(), x, y, and z().

Referenced by ED_armature_ebone_roll_to_vector(), ED_armature_ebone_to_mat3(), blender::bke::tests::find_flip_boundary(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::TEST(), blender::bke::tests::test_vec_roll_to_mat3_normalized(), and vec_roll_to_mat3().