Blender V5.0
Classes | Macros | Typedefs | Enumerations | Functions | Variables
itasc_plugin.cc File Reference
Blender » IK Plugin
#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <cstring>
#include <vector>
#include "MEM_guardedalloc.h"
#include "BIK_api.h"
#include "BLI_listbase.h"
#include "BLI_math_matrix.h"
#include "BLI_math_rotation.h"
#include "BLI_math_vector.h"
#include "BKE_action.hh"
#include "BKE_armature.hh"
#include "BKE_constraint.h"
#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_constraint_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"
#include "itasc_plugin.h"

Go to the source code of this file.

Classes

struct  IK_Data
struct  IK_Target
struct  IK_Channel
struct  IK_Scene

Macros

#define ANIM_FEEDBACK   0.8

Typedefs

using Vector3 = float[3]
using Vector4 = float[4]
using ErrorCallback

Enumerations

enum  IK_SegmentFlag {
  IK_XDOF = 1 , IK_YDOF = 2 , IK_ZDOF = 4 , IK_SWING = 8 ,
  IK_REVOLUTE = 16 , IK_TRANSY = 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
}

Functions

static int initialize_chain (Object *, bPoseChannel *pchan_tip, bConstraint *con)
static bool is_cartesian_constraint (bConstraint *)
static bool constraint_valid (bConstraint *con)
static 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 &, const iTaSC::Frame &, iTaSC::Frame &next, void *param)
static bool base_callback (const iTaSC::Timestamp &timestamp, const iTaSC::Frame &, iTaSC::Frame &next, void *param)
static bool copypose_callback (const iTaSC::Timestamp &, iTaSC::ConstraintValues *const _values, uint, void *_param)
static void copypose_error (const iTaSC::ConstraintValues *values, uint, IK_Target *iktarget)
static bool distance_callback (const iTaSC::Timestamp &timestamp, iTaSC::ConstraintValues *const _values, uint, void *_param)
static void distance_error (const iTaSC::ConstraintValues *values, uint, IK_Target *iktarget)
static bool joint_callback (const iTaSC::Timestamp &, iTaSC::ConstraintValues *const _values, uint _nvalues, void *_param)
static int convert_channels (Depsgraph *depsgraph, IK_Scene *ikscene, PoseTree *tree, float ctime)
static void convert_pose (IK_Scene *ikscene)
static void BKE_pose_rest (IK_Scene *ikscene)
static IK_Scene * convert_tree (Depsgraph *depsgraph, Scene *blscene, Object *ob, bPoseChannel *pchan, float ctime)
static void create_scene (Depsgraph *depsgraph, Scene *scene, Object *ob, float ctime)
static int init_scene (Object *ob)
static void execute_scene (Depsgraph *depsgraph, Scene *blscene, IK_Scene *ikscene, bItasc *ikparam, float ctime, float frtime)
Plugin Interface
void itasc_initialize_tree (Depsgraph *depsgraph, Scene *scene, Object *ob, float ctime)
void itasc_execute_tree (Depsgraph *depsgraph, Scene *scene, Object *ob, bPoseChannel *pchan_root, float ctime)
void itasc_release_tree (Scene *, Object *, float)
void itasc_clear_data (bPose *pose)
void itasc_clear_cache (bPose *pose)
void itasc_update_param (bPose *pose)
void itasc_test_constraint (Object *, bConstraint *cons)

Variables

static bItasc DefIKParam

Macro Definition Documentation

◆ ANIM_FEEDBACK

#define ANIM_FEEDBACK   0.8

Definition at line 61 of file itasc_plugin.cc.

Referenced by copypose_callback(), and distance_callback().

Typedef Documentation

◆ ErrorCallback

using ErrorCallback
Initial value:
void (*)(const iTaSC::ConstraintValues *values,
uint nvalues,
IK_Target *iktarget)
uint
unsigned int uint
Definition BLI_sys_types.h:64
IK_Target
Definition itasc_plugin.cc:79

Definition at line 74 of file itasc_plugin.cc.

◆ Vector3

using Vector3 = float[3]

Definition at line 71 of file itasc_plugin.cc.

◆ Vector4

using Vector4 = float[4]

Definition at line 72 of file itasc_plugin.cc.

Enumeration Type Documentation

◆ IK_SegmentAxis

enum IK_SegmentAxis
Enumerator
IK_X 
IK_Y 
IK_Z 
IK_TRANS_X 
IK_TRANS_Y 
IK_TRANS_Z 

Definition at line 215 of file itasc_plugin.cc.

◆ IK_SegmentFlag

enum IK_SegmentFlag
Enumerator
IK_XDOF 
IK_YDOF 
IK_ZDOF 
IK_SWING 
IK_REVOLUTE 
IK_TRANSY 

Definition at line 206 of file itasc_plugin.cc.

Function Documentation

◆ base_callback()

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

Definition at line 612 of file itasc_plugin.cc.

References IK_Scene::armature, IK_Scene::baseFrame, BKE_constraint_target_matrix_get(), IK_Scene::blArmature, IK_Scene::bldepsgraph, IK_Scene::blScale, 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, iTaSC::Armature::getPose(), iTaSC::Object::getPose(), iTaSC::Armature::getRelativeFrame(), iTaSC::Armature::getSegment(), KDL::Joint::getType(), KDL::Frame::getValue(), KDL::Rotation::Inverse(), invert_m4_m4(), length(), KDL::Frame::M, mul_m4_m4m4(), next, KDL::Normalize(), KDL::Frame::p, bPoseChannel::parent, IK_Channel::pchan, IK_Scene::polarConstraint, bKinematicConstraint::poleangle, bPoseChannel::pose_mat, bPoseChannel::pose_tail, result, 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(), iTaSC::Timestamp::update, and x.

Referenced by convert_tree().

◆ BKE_pose_rest()

void BKE_pose_rest ( IK_Scene * ikscene)
static

Definition at line 1110 of file itasc_plugin.cc.

References IK_Scene::blArmature, bPoseChannel::bone, IK_Scene::channels, IK_TRANSY, IK_Scene::jointArray, IK_Channel::jointType, len_v3(), Bone::length, IK_Channel::ndof, IK_Channel::pchan, rot, and SetToZero().

Referenced by convert_tree().

◆ ComputeTwist()

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

Definition at line 461 of file itasc_plugin.cc.

References KDL::atan2(), and R.

Referenced by GetJointRotation(), IK_QElbowSegment::SetBasis(), and IK_QRevoluteSegment::SetBasis().

◆ constraint_valid()

bool constraint_valid ( bConstraint * con)
static

Definition at line 386 of file itasc_plugin.cc.

References CONSTRAINT_DISABLE, CONSTRAINT_IK_AUTO, CONSTRAINT_OFF, bConstraint::data, data, bConstraint::flag, is_cartesian_constraint(), and OB_ARMATURE.

Referenced by initialize_scene().

◆ convert_channels()

int convert_channels ( Depsgraph * depsgraph,
IK_Scene * ikscene,
PoseTree * tree,
float ctime )
static

Definition at line 933 of file itasc_plugin.cc.

References BKE_pose_where_is_bone(), IK_Scene::blArmature, IK_Scene::blscene, BONE_IK_NO_XDOF, BONE_IK_NO_XDOF_TEMP, BONE_IK_NO_YDOF, BONE_IK_NO_YDOF_TEMP, BONE_IK_NO_ZDOF, BONE_IK_NO_ZDOF_TEMP, BONE_IK_XLIMIT, BONE_IK_YLIMIT, BONE_IK_ZLIMIT, IK_Scene::channels, depsgraph, bPoseChannel::flag, flag, IK_REVOLUTE, IK_SWING, IK_TRANSY, IK_XDOF, IK_YDOF, IK_ZDOF, bPoseChannel::ikflag, bPoseChannel::ikstretch, IK_Scene::jointArray, IK_Channel::jointType, bPoseChannel::limitmax, bPoseChannel::limitmin, IK_Channel::ndof, IK_Scene::numjoint, IK_Channel::owner, IK_Channel::parent, IK_Channel::pchan, POSE_CHAIN, POSE_DONE, KDL::JntArray::resize(), and tree.

Referenced by convert_tree().

◆ convert_pose()

void convert_pose ( IK_Scene * ikscene)
static

Definition at line 1066 of file itasc_plugin.cc.

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(), mul_m4_m4m4(), IK_Channel::ndof, normalize_m4(), bPoseChannel::parent, IK_Channel::pchan, bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, rot, KDL::Rotation::setValue(), and unit_m4().

Referenced by execute_scene().

◆ convert_tree()

IK_Scene * convert_tree ( Depsgraph * depsgraph,
Scene * blscene,
Object * ob,
bPoseChannel * pchan,
float ctime )
static

Definition at line 1140 of file itasc_plugin.cc.

References iTaSC::ACT_ALPHA, iTaSC::ACT_VALUE, iTaSC::Scene::addCache(), iTaSC::Armature::addConstraint(), iTaSC::Scene::addConstraintSet(), iTaSC::Armature::addEndEffector(), iTaSC::Armature::addLimitConstraint(), iTaSC::Scene::addObject(), iTaSC::Armature::addSegment(), iTaSC::Scene::addSolver(), Bone::arm_mat, Bone::arm_tail, IK_Scene::armature, assert, IK_Scene::base, base_callback(), BKE_pose_rest(), IK_Scene::blArmature, IK_Scene::bldepsgraph, IK_Target::bldepsgraph, IK_Target::blenderConstraint, IK_Scene::blInvScale, IK_Scene::blScale, IK_Scene::blscene, IK_Target::blscene, bPoseChannel::bone, BONE_CONNECTED, BONE_IK_ROTCTL, BONE_IK_XLIMIT, BONE_IK_YLIMIT, BONE_IK_ZLIMIT, Bone::bone_mat, IK_Scene::cache, IK_Target::channel, IK_Scene::channels, PoseTarget::con, IK_Target::constraint, CONSTRAINT_IK_COPYPOSE, CONSTRAINT_IK_DISTANCE, CONSTRAINT_IK_NO_POS_X, CONSTRAINT_IK_NO_POS_Y, CONSTRAINT_IK_NO_POS_Z, CONSTRAINT_IK_NO_ROT_X, CONSTRAINT_IK_NO_ROT_Y, CONSTRAINT_IK_NO_ROT_Z, CONSTRAINT_IK_POS, CONSTRAINT_IK_ROT, CONSTRAINT_IK_TARGETAXIS, IK_Target::constraintName, IK_Target::controlType, convert_channels(), copy_m3_m4(), copy_m4_m4(), copy_v3_v3(), copypose_callback(), copypose_error(), iTaSC::CopyPose::CTL_POSITION, iTaSC::CopyPose::CTL_POSITIONX, iTaSC::CopyPose::CTL_POSITIONY, iTaSC::CopyPose::CTL_POSITIONZ, iTaSC::CopyPose::CTL_ROTATION, iTaSC::CopyPose::CTL_ROTATIONX, iTaSC::CopyPose::CTL_ROTATIONY, iTaSC::CopyPose::CTL_ROTATIONZ, bConstraint::data, DefIKParam, depsgraph, bKinematicConstraint::dist, distance_callback(), distance_error(), e_matrix, IK_Target::ee, IK_Target::eeBlend, IK_Target::eeRest, KDL::epsilon, IK_Target::errorCallback, iTaSC::F_identity, ListBase::first, bItasc::flag, bKinematicConstraint::flag, Bone::flag, KDL::Rotation::GetRot(), iTaSC::ControlledObject::getWq(), IK_Channel::head, Object::id, iTaSC::Distance::ID_DISTANCE, iTaSC::CopyPose::ID_POSITION, iTaSC::CopyPose::ID_ROTATION, IK_REVOLUTE, IK_SWING, IK_TRANSY, IK_XDOF, IK_YDOF, IK_ZDOF, bPoseChannel::ikflag, bPose::ikparam, bPoseChannel::ikstretch, bPoseChannel::iktree, iTaSC::Scene::initialize(), invert_m3_m3(), invert_m4_m4(), is_cartesian_constraint(), ITASC_SIMULATION, ITASC_SOLVER_DLS, ITASC_SOLVER_SDLS, ITASC_TRANSLATE_ROOT_BONES, joint_callback(), IK_Scene::jointArray, IK_Channel::jointType, len_v3(), Bone::length, length(), bPoseChannel::limitmax, bPoseChannel::limitmin, KDL::Frame::M, min_ff(), mul_m3_v3(), mul_m4_m4m4(), bConstraint::name, Bone::name, ID::name, IK_Channel::ndof, PoseTarget::next, KDL::Joint::None, KDL::Vector::Norm(), normalize_m3(), IK_Scene::numchan, bKinematicConstraint::orientweight, IK_Target::owner, KDL::Frame::p, bPoseChannel::parent, IK_Channel::pchan, IK_Scene::polarConstraint, bKinematicConstraint::poletar, Object::pose, bPoseChannel::pose_head, bPoseChannel::pose_mat, bPoseChannel::pose_tail, iTaSC::ConstraintSet::registerCallback(), ret, IK_Target::rootChannel, rot, KDL::Joint::RotX, KDL::Joint::RotY, KDL::Joint::RotZ, IK_Scene::scene, iTaSC::MovingFrame::setCallback(), iTaSC::ConstraintSet::setControlParameter(), IK_Target::simulation, bItasc::solver, IK_Scene::solver, KDL::Joint::Sphere, bPoseChannel::stiffness, sub_v3_v3v3(), iTaSC::ConstraintSet::substep(), KDL::Joint::Swing, IK_Channel::tail, IK_Target::target, target_callback(), IK_Target::targetName, IK_Scene::targets, PoseTarget::tip, KDL::Joint::TransY, tree, bKinematicConstraint::type, unit_m3(), unit_m4(), and bKinematicConstraint::weight.

Referenced by create_scene().

◆ copypose_callback()

bool copypose_callback ( const iTaSC::Timestamp & ,
iTaSC::ConstraintValues *const _values,
uint ,
void * _param )
static

Definition at line 716 of file itasc_plugin.cc.

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

Referenced by convert_tree().

◆ copypose_error()

void copypose_error ( const iTaSC::ConstraintValues * values,
uint ,
IK_Target * iktarget )
static

Definition at line 762 of file itasc_plugin.cc.

References IK_Target::blenderConstraint, IK_Target::controlType, iTaSC::CopyPose::CTL_POSITION, iTaSC::CopyPose::CTL_ROTATION, error(), float, 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().

◆ create_scene()

void create_scene ( Depsgraph * depsgraph,
Scene * scene,
Object * ob,
float ctime )
static

Definition at line 1649 of file itasc_plugin.cc.

References BLI_freelistN(), BLI_remlink(), bPose::chanbase, convert_tree(), depsgraph, IK_Data::first, get_ikdata(), LISTBASE_FOREACH, MEM_freeN(), IK_Scene::next, Object::pose, and tree.

Referenced by itasc_initialize_tree().

◆ distance_callback()

bool distance_callback ( const iTaSC::Timestamp & timestamp,
iTaSC::ConstraintValues *const _values,
uint ,
void * _param )
static

Definition at line 788 of file itasc_plugin.cc.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_VALUE, iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::action, iTaSC::ConstraintValues::alpha, ANIM_FEEDBACK, IK_Target::blenderConstraint, CONSTRAINT_OFF, bConstraint::data, DefIKParam, bKinematicConstraint::dist, bItasc::feedback, iTaSC::ConstraintValues::feedback, bConstraint::flag, bPose::ikparam, LIMITDIST_INSIDE, LIMITDIST_OUTSIDE, bKinematicConstraint::mode, IK_Target::owner, Object::pose, IK_Target::simulation, iTaSC::Timestamp::substep, iTaSC::ConstraintValues::values, bKinematicConstraint::weight, iTaSC::ConstraintSingleValue::y, and iTaSC::ConstraintSingleValue::yd.

Referenced by convert_tree().

◆ distance_error()

void distance_error ( const iTaSC::ConstraintValues * values,
uint ,
IK_Target * iktarget )
static

Definition at line 839 of file itasc_plugin.cc.

References IK_Target::blenderConstraint, float, bConstraint::lin_error, iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::y, and iTaSC::ConstraintSingleValue::yd.

Referenced by convert_tree().

◆ EulerAngleFromMatrix()

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

Definition at line 436 of file itasc_plugin.cc.

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

Referenced by GetJointRotation(), IK_QElbowSegment::SetBasis(), and IK_QRevoluteSegment::SetBasis().

◆ execute_scene()

void execute_scene ( Depsgraph * depsgraph,
Scene * blscene,
IK_Scene * ikscene,
bItasc * ikparam,
float ctime,
float frtime )
static

Definition at line 1701 of file itasc_plugin.cc.

References IK_Scene::armature, IK_Scene::baseFrame, BKE_pose_where_is_bone(), IK_Scene::blArmature, IK_Target::blenderConstraint, IK_Scene::blInvScale, IK_Scene::cache, IK_Scene::channels, IK_Target::constraint, CONSTRAINT_OFF, convert_pose(), copy_v3_v3(), depsgraph, iTaSC::Solver::DLS_QMAX, IK_Target::errorCallback, bConstraint::flag, bItasc::flag, bPoseChannel::flag, float, IK_Channel::frame, iTaSC::ConstraintSet::getControlParameters(), iTaSC::Armature::getMaxEndEffectorChange(), iTaSC::Armature::getMaxJointChange(), iTaSC::ControlledObject::getNrOfConstraints(), iTaSC::Cache::getPreviousCacheItem(), iTaSC::Armature::getRelativeFrame(), iTaSC::Armature::getSegment(), KDL::Joint::getType(), KDL::Frame::getValue(), i, ITASC_AUTO_STEP, ITASC_INITIAL_REITERATION, ITASC_REITERATION, ITASC_SIMULATION, IK_Scene::jointArray, IK_Channel::jointValid, length(), bItasc::maxvel, mul_v3_fl(), 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::Armature::setJointArray(), iTaSC::Solver::setParam(), IK_Scene::solver, sub_v3_v3v3(), IK_Channel::tail, IK_Scene::targets, KDL::Joint::TransY, and iTaSC::Scene::update().

Referenced by itasc_execute_tree().

◆ get_ikdata()

IK_Data * get_ikdata ( bPose * pose)
static

Definition at line 422 of file itasc_plugin.cc.

References BKE_pose_itasc_init(), DefIKParam, bPose::ikdata, and MEM_callocN().

Referenced by create_scene().

◆ GetJointRotation()

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

Definition at line 523 of file itasc_plugin.cc.

References ComputeTwist(), EulerAngleFromMatrix(), KDL::Rotation::GetRot(), KDL::Vector2::GetValue(), KDL::Vector::GetValue(), KDL::Rotation::GetXZRot(), IK_REVOLUTE, IK_SWING, IK_TRANSY, IK_XDOF, IK_YDOF, IK_ZDOF, RemoveEulerAngleFromMatrix(), and rot.

Referenced by convert_pose(), and joint_callback().

◆ init_scene()

int init_scene ( Object * ob)
static

Definition at line 1684 of file itasc_plugin.cc.

References IK_Scene::blScale, IK_Scene::channels, KDL::epsilon, fabs(), bPoseChannel::flag, bPose::ikdata, len_v3(), IK_Scene::next, IK_Channel::pchan, Object::pose, and POSE_IKTREE.

Referenced by itasc_initialize_tree().

◆ initialize_chain()

int initialize_chain ( Object * ,
bPoseChannel * pchan_tip,
bConstraint * con )
static

Definition at line 224 of file itasc_plugin.cc.

References BLI_addtail(), BLI_listbase_is_empty(), PoseTarget::con, CONSTRAINT_IK_STRETCH, CONSTRAINT_IK_TIP, bConstraint::data, data, ListBase::first, bPoseChannel::flag, bPoseChannel::iktree, MEM_calloc_arrayN(), MEM_callocN(), MEM_freeN(), bPoseChannel::parent, POSE_CHAIN, POSE_IKTREE, size(), PoseTarget::tip, and tree.

Referenced by initialize_scene().

◆ initialize_scene()

int initialize_scene ( Object * ob,
bPoseChannel * pchan_tip )
static

Definition at line 408 of file itasc_plugin.cc.

References CONSTRAINT_TYPE_KINEMATIC, constraint_valid(), bPoseChannel::constraints, initialize_chain(), and LISTBASE_FOREACH.

Referenced by itasc_initialize_tree().

◆ is_cartesian_constraint()

bool is_cartesian_constraint ( bConstraint * )
static

Definition at line 379 of file itasc_plugin.cc.

Referenced by constraint_valid(), and convert_tree().

◆ itasc_clear_cache()

void itasc_clear_cache ( bPose * pose)

Definition at line 1951 of file itasc_plugin.cc.

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

◆ itasc_clear_data()

void itasc_clear_data ( bPose * pose)

Definition at line 1938 of file itasc_plugin.cc.

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

Referenced by itasc_initialize_tree().

◆ itasc_execute_tree()

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

Definition at line 1912 of file itasc_plugin.cc.

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

◆ itasc_initialize_tree()

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

Definition at line 1884 of file itasc_plugin.cc.

References bPose::chanbase, count, create_scene(), depsgraph, bPose::flag, bPose::ikdata, init_scene(), initialize_scene(), itasc_clear_data(), itasc_update_param(), LISTBASE_FOREACH, PCHAN_HAS_IK, Object::pose, and POSE_WAS_REBUILT.

◆ itasc_release_tree()

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

Definition at line 1933 of file itasc_plugin.cc.

◆ itasc_test_constraint()

void itasc_test_constraint ( Object * ob,
bConstraint * cons )

Definition at line 1993 of file itasc_plugin.cc.

References CONSTRAINT_IK_COPYPOSE, CONSTRAINT_IK_DISTANCE, CONSTRAINT_TYPE_KINEMATIC, bConstraint::data, data, and bConstraint::type.

◆ itasc_update_param()

void itasc_update_param ( bPose * pose)

Definition at line 1964 of file itasc_plugin.cc.

References iTaSC::ACT_FEEDBACK, CONSTRAINT_ID_ALL, bItasc::dampeps, bItasc::dampmax, iTaSC::Solver::DLS_EPSILON, iTaSC::Solver::DLS_LAMBDA_MAX, iTaSC::Solver::DLS_QMAX, bItasc::feedback, IK_Data::first, bItasc::flag, iTaSC::Armature::ID_JOINT, bPose::ikdata, bPose::ikparam, ITASC_SIMULATION, bItasc::maxstep, bItasc::maxvel, bItasc::minstep, and IK_Scene::next.

Referenced by itasc_initialize_tree().

◆ joint_callback()

bool joint_callback ( const iTaSC::Timestamp & ,
iTaSC::ConstraintValues *const _values,
uint _nvalues,
void * _param )
static

Definition at line 846 of file itasc_plugin.cc.

References iTaSC::ConstraintValues::alpha, axis_angle_to_mat3(), bPoseChannel::eul, eulO_to_mat3(), bItasc::feedback, iTaSC::ConstraintValues::feedback, GetJointRotation(), i, iTaSC::ConstraintValues::id, iTaSC::Armature::ID_JOINT_RX, iTaSC::Armature::ID_JOINT_RY, iTaSC::Armature::ID_JOINT_RZ, IK_REVOLUTE, IK_SWING, IK_TRANSY, IK_XDOF, IK_YDOF, IK_ZDOF, bPose::ikparam, bPoseChannel::ikrotweight, IK_Channel::jointType, IK_Channel::jointValid, IK_Channel::jointValue, normalize_qt(), IK_Channel::owner, IK_Channel::pchan, Object::pose, bPoseChannel::quat, quat_to_mat3(), ROT_MODE_AXISANGLE, bPoseChannel::rotmode, iTaSC::ConstraintValues::values, and iTaSC::ConstraintSingleValue::yd.

Referenced by convert_tree().

◆ RemoveEulerAngleFromMatrix()

void RemoveEulerAngleFromMatrix ( KDL::Rotation & R,
double angle,
int axis )
static

Definition at line 472 of file itasc_plugin.cc.

References angle(), R, KDL::Rotation::RotX(), KDL::Rotation::RotY(), KDL::Rotation::RotZ(), and T.

Referenced by GetJointRotation().

◆ target_callback()

bool target_callback ( const iTaSC::Timestamp & ,
const iTaSC::Frame & ,
iTaSC::Frame & next,
void * param )
static

Definition at line 567 of file itasc_plugin.cc.

References BKE_constraint_target_matrix_get(), IK_Target::bldepsgraph, blend_m4_m4m4(), IK_Target::blenderConstraint, IK_Target::blscene, CONSTRAINT_OBTYPE_OBJECT, copy_m4_m4(), copy_v3_v3(), IK_Target::eeBlend, IK_Target::eeRest, bConstraint::enforce, mul_m4_m4m4(), mul_m4_series, next, IK_Target::owner, bPoseChannel::parent, bPoseChannel::pose_mat, bPoseChannel::pose_tail, and IK_Target::rootChannel.

Referenced by convert_tree().

Variable Documentation

◆ DefIKParam

bItasc DefIKParam
static

Definition at line 57 of file itasc_plugin.cc.

Referenced by convert_tree(), copypose_callback(), distance_callback(), get_ikdata(), and itasc_execute_tree().

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