itasc_plugin.cc File Reference

#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <cstring>
#include <vector>
#include "MEM_guardedalloc.h"
#include "BIK_api.h"
#include "BLI_blenlib.h"
#include "BLI_math_matrix.h"
#include "BLI_math_rotation.h"
#include "BLI_math_vector.h"
#include "BLI_utildefines.h"
#include "BKE_action.hh"
#include "BKE_armature.hh"
#include "BKE_constraint.h"
#include "BKE_global.hh"
#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 53 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)

Definition at line 66 of file itasc_plugin.cc.

Vector3

using Vector3 = float[3]

Definition at line 63 of file itasc_plugin.cc.

Vector4

using Vector4 = float[4]

Definition at line 64 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 207 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 198 of file itasc_plugin.cc.

Function Documentation

base_callback()

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

static

Definition at line 604 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(), and iTaSC::Timestamp::update.

Referenced by convert_tree().

BKE_pose_rest()

static void BKE_pose_rest ( IK_Scene * ikscene )

static

Definition at line 1102 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_Scene::numchan, IK_Scene::numjoint, IK_Channel::pchan, rot, and SetToZero().

Referenced by convert_tree().

ComputeTwist()

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

static

Definition at line 453 of file itasc_plugin.cc.

References KDL::atan2(), and R.

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

constraint_valid()

static bool constraint_valid ( bConstraint * con )

static

Definition at line 378 of file itasc_plugin.cc.

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

Referenced by initialize_scene().

convert_channels()

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

static

Definition at line 925 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::numchan, 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()

static void convert_pose ( IK_Scene * ikscene )

static

Definition at line 1058 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(), IK_Scene::numchan, IK_Scene::numjoint, 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()

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

static

Definition at line 1132 of file itasc_plugin.cc.

References iTaSC::ACT_ALPHA, iTaSC::ACT_VALUE, iTaSC::Armature::addConstraint(), iTaSC::Armature::addEndEffector(), iTaSC::Armature::addLimitConstraint(), iTaSC::Armature::addSegment(), Bone::arm_mat, Bone::arm_tail, IK_Scene::armature, 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, 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, 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(), Bone::name, ID::name, IK_Channel::ndof, bConstraint::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, 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, KDL::Joint::TransY, tree, bKinematicConstraint::type, unit_m3(), unit_m4(), and bKinematicConstraint::weight.

Referenced by create_scene().

copypose_callback()

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

static

Definition at line 708 of file itasc_plugin.cc.

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, bItasc::feedback, bConstraint::flag, bPose::ikparam, bKinematicConstraint::orientweight, IK_Target::owner, Object::pose, IK_Target::simulation, and bKinematicConstraint::weight.

Referenced by convert_tree().

copypose_error()

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

static

Definition at line 754 of file itasc_plugin.cc.

References IK_Target::blenderConstraint, IK_Target::controlType, iTaSC::CopyPose::CTL_POSITION, iTaSC::CopyPose::CTL_ROTATION, error(), float, bConstraint::lin_error, bConstraint::rot_error, KDL::sqr(), and KDL::sqrt().

Referenced by convert_tree().

create_scene()

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

static

Definition at line 1641 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()

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

static

Definition at line 780 of file itasc_plugin.cc.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_VALUE, ANIM_FEEDBACK, IK_Target::blenderConstraint, CONSTRAINT_OFF, bConstraint::data, DefIKParam, bKinematicConstraint::dist, bItasc::feedback, 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().

distance_error()

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

static

Definition at line 831 of file itasc_plugin.cc.

References IK_Target::blenderConstraint, float, and bConstraint::lin_error.

Referenced by convert_tree().

EulerAngleFromMatrix()

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

static

Definition at line 428 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()

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

static

Definition at line 1693 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(), ITASC_AUTO_STEP, ITASC_INITIAL_REITERATION, ITASC_REITERATION, ITASC_SIMULATION, IK_Scene::jointArray, IK_Channel::jointValid, length(), bItasc::maxvel, mul_v3_fl(), IK_Scene::numchan, 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()

static IK_Data * get_ikdata ( bPose * pose )

static

Definition at line 414 of file itasc_plugin.cc.

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

Referenced by create_scene().

GetJointRotation()

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

static

Definition at line 515 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()

static int init_scene ( Object * ob )

static

Definition at line 1676 of file itasc_plugin.cc.

References KDL::epsilon, fabs(), Scene::flag, bPose::ikdata, len_v3(), Object::pose, POSE_IKTREE, and scene.

Referenced by itasc_initialize_tree().

initialize_chain()

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

static

Definition at line 216 of file itasc_plugin.cc.

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

Referenced by initialize_scene().

initialize_scene()

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

static

Definition at line 400 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()

static bool is_cartesian_constraint ( bConstraint * )

static

Definition at line 371 of file itasc_plugin.cc.

Referenced by constraint_valid(), and convert_tree().

itasc_clear_cache()

void itasc_clear_cache

(

bPose *

pose

)

Definition at line 1943 of file itasc_plugin.cc.

References IK_Data::first, bPose::ikdata, and scene.

itasc_clear_data()

void itasc_clear_data

(

bPose *

pose

)

Definition at line 1930 of file itasc_plugin.cc.

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

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 1904 of file itasc_plugin.cc.

References DefIKParam, depsgraph, execute_scene(), IK_Data::first, bPose::ikdata, bPose::ikparam, and Object::pose.

itasc_initialize_tree()

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

Definition at line 1876 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 1925 of file itasc_plugin.cc.

itasc_test_constraint()

void itasc_test_constraint	(	Object *	ob,
		bConstraint *	cons )

Definition at line 1985 of file itasc_plugin.cc.

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

itasc_update_param()

void itasc_update_param

(

bPose *

pose

)

Definition at line 1956 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, and bItasc::minstep.

Referenced by itasc_initialize_tree().

joint_callback()

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

static

Definition at line 838 of file itasc_plugin.cc.

References iTaSC::ConstraintValues::alpha, axis_angle_to_mat3(), bPoseChannel::eul, eulO_to_mat3(), bItasc::feedback, iTaSC::ConstraintValues::feedback, GetJointRotation(), 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()

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

static

Definition at line 464 of file itasc_plugin.cc.

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

Referenced by GetJointRotation().

target_callback()

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

static

Definition at line 559 of file itasc_plugin.cc.

References BKE_constraint_target_matrix_get(), blend_m4_m4m4(), CONSTRAINT_OBTYPE_OBJECT, copy_m4_m4(), copy_v3_v3(), bConstraint::enforce, mul_m4_m4m4(), mul_m4_series, next, bPoseChannel::parent, bPoseChannel::pose_mat, and bPoseChannel::pose_tail.

Referenced by convert_tree().

Variable Documentation

DefIKParam

bItasc DefIKParam

static

Definition at line 49 of file itasc_plugin.cc.

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