[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [21977] branches/itasc/source/blender/ ikplugin/intern/itasc_plugin.cpp: iTaSC: support multiple IK constraint on same bone + Wahonney namespace patch.

[Benoit Bolsee]

Revision: 21977
          http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=21977
Author:   ben2610
Date:     2009-07-28 19:12:20 +0200 (Tue, 28 Jul 2009)

Log Message:
-----------
iTaSC: support multiple IK constraint on same bone + Wahonney namespace patch.

Modified Paths:
--------------
    branches/itasc/source/blender/ikplugin/intern/itasc_plugin.cpp

Modified: branches/itasc/source/blender/ikplugin/intern/itasc_plugin.cpp
===================================================================
--- branches/itasc/source/blender/ikplugin/intern/itasc_plugin.cpp	2009-07-28 16:56:22 UTC (rev 21976)
+++ branches/itasc/source/blender/ikplugin/intern/itasc_plugin.cpp	2009-07-28 17:12:20 UTC (rev 21977)
@@ -182,26 +182,15 @@
 	IK_TRANS_Z = 5
 };
 
-int initialize_scene(Object *ob, bPoseChannel *pchan_tip)
+static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *con)
 {
 	bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256], **oldchan;
 	PoseTree *tree;
 	PoseTarget *target;
-	bConstraint *con;
 	bKinematicConstraint *data;
 	int a, segcount= 0, size, newsize, *oldparent, parent, rootbone, treecount;
 
-	/* find IK constraint, and validate it */
-	for(con= (bConstraint *)pchan_tip->constraints.first; con; con= (bConstraint *)con->next) {
-		if(con->type==CONSTRAINT_TYPE_KINEMATIC) {
-			data=(bKinematicConstraint*)con->data;
-			if (data->flag & CONSTRAINT_IK_AUTO) break;
-			if (data->tar==NULL) continue;
-			if (data->tar->type==OB_ARMATURE && data->subtarget[0]==0) continue;
-			if ((con->flag & CONSTRAINT_DISABLE)==0 && (con->enforce!=0.0)) break;
-		}
-	}
-	if(con==NULL) return 0;
+	data=(bKinematicConstraint*)con->data;
 	
 	/* exclude tip from chain? */
 	if(!(data->flag & CONSTRAINT_IK_TIP))
@@ -314,6 +303,35 @@
 	return treecount;
 }
 
+int initialize_scene(Object *ob, bPoseChannel *pchan_tip)
+{
+	bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256], **oldchan;
+	PoseTree *tree;
+	PoseTarget *target;
+	bConstraint *con;
+	bKinematicConstraint *data;
+	int a, segcount= 0, size, newsize, *oldparent, parent, rootbone, treecount;
+
+	/* find all IK constraints and validate them */
+	treecount = 0;
+	for(con= (bConstraint *)pchan_tip->constraints.first; con; con= (bConstraint *)con->next) {
+		if(con->type==CONSTRAINT_TYPE_KINEMATIC) {
+			data=(bKinematicConstraint*)con->data;
+			if (data->flag & CONSTRAINT_IK_AUTO) {
+				treecount += initialize_chain(ob, pchan_tip, con);
+				continue;
+			}
+			if (data->tar==NULL) continue;
+			if (data->tar->type==OB_ARMATURE && data->subtarget[0]==0) continue;
+			if ((con->flag & CONSTRAINT_DISABLE)==0 && (con->enforce!=0.0)) {
+				treecount += initialize_chain(ob, pchan_tip, con);
+				continue;
+			}
+		}
+	}
+	return treecount;
+}
+
 static IK_Data* get_ikdata(bPose *pose)
 {
 	if (pose->ikdata)
@@ -328,15 +346,15 @@
 }
 static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis)
 {
-	double t = sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));
+	double t = KDL::sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));
 
 	if (t > 16.0*KDL::epsilon) {
-		if (axis == 0) return -atan2(R(1,2), R(2,2));
-        else if(axis == 1) return atan2(-R(0,2), t);
-        else return -atan2(R(0,1), R(0,0));
+		if (axis == 0) return -KDL::atan2(R(1,2), R(2,2));
+        else if(axis == 1) return KDL::atan2(-R(0,2), t);
+        else return -KDL::atan2(R(0,1), R(0,0));
     } else {
-		if (axis == 0) return -atan2(-R(2,1), R(1,1));
-        else if(axis == 1) return atan2(-R(0,2), t);
+		if (axis == 0) return -KDL::atan2(-R(2,1), R(1,1));
+        else if(axis == 1) return KDL::atan2(-R(0,2), t);
         else return 0.0f;
     }
 }
@@ -347,7 +365,7 @@
 	double qy = R(0,2) - R(2,0);
 	double qw = R(0,0) + R(1,1) + R(2,2) + 1;
 
-	double tau = 2*atan2(qy, qw);
+	double tau = 2*KDL::atan2(qy, qw);
 
 	return tau;
 }
@@ -381,7 +399,7 @@
         Y = 0.0 ;
     } else {
         X = KDL::atan2(R(2,1), R(1,1));
-        Z = KDL::atan2(-R(0,1), sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
+        Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
         Y = KDL::atan2(R(0,2), R(0,0));
     }
 }
@@ -394,7 +412,7 @@
         Z = 0.0 ;
     } else {
         X = KDL::atan2(-R(1,2), R(2,2));
-        Y = KDL::atan2(R(0,2), sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
+        Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
         Z = KDL::atan2(-R(0,1), R(0,0));
     }
 }