[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [47372] trunk/blender: Fix bug [#31588]: iTaSC does not handle armature scaling correctly.
Benoit Bolsee
benoit.bolsee at online.be
Sun Jun 3 14:06:43 CEST 2012
Revision: 47372
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=47372
Author: ben2610
Date: 2012-06-03 12:06:42 +0000 (Sun, 03 Jun 2012)
Log Message:
-----------
Fix bug [#31588]: iTaSC does not handle armature scaling correctly. iTaSC solver operates in world reference, therefore armature scale is used to build the ik scene. But the scaling was not taken out when applying the pose at the end of the simulation.
Modified Paths:
--------------
trunk/blender/intern/itasc/kdl/frames.hpp
trunk/blender/intern/itasc/kdl/frames.inl
trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
Modified: trunk/blender/intern/itasc/kdl/frames.hpp
===================================================================
--- trunk/blender/intern/itasc/kdl/frames.hpp 2012-06-03 12:00:41 UTC (rev 47371)
+++ trunk/blender/intern/itasc/kdl/frames.hpp 2012-06-03 12:06:42 UTC (rev 47372)
@@ -201,6 +201,9 @@
//! Adds a vector from the Vector object itself
inline Vector& operator +=(const Vector& arg);
+ //! Multiply by a scalar
+ inline Vector& operator *=(double arg);
+
//! Scalar multiplication is defined
inline friend Vector operator*(const Vector& lhs,double rhs);
//! Scalar multiplication is defined
Modified: trunk/blender/intern/itasc/kdl/frames.inl
===================================================================
--- trunk/blender/intern/itasc/kdl/frames.inl 2012-06-03 12:00:41 UTC (rev 47371)
+++ trunk/blender/intern/itasc/kdl/frames.inl 2012-06-03 12:06:42 UTC (rev 47372)
@@ -143,6 +143,14 @@
return *this;
}
+Vector& Vector::operator *=(double arg)
+{
+ data[0] *= arg;
+ data[1] *= arg;
+ data[2] *= arg;
+ return *this;
+}
+
Vector Vector::Zero()
{
return Vector(0,0,0);
Modified: trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp
===================================================================
--- trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp 2012-06-03 12:00:41 UTC (rev 47371)
+++ trunk/blender/source/blender/ikplugin/intern/itasc_plugin.cpp 2012-06-03 12:06:42 UTC (rev 47372)
@@ -176,6 +176,8 @@
KDL::JntArray jointArray; // buffer for storing temporary joint array
iTaSC::Solver* solver;
Object* blArmature;
+ float blScale; // scale of the Armature object (assume uniform scaling)
+ float blInvScale; // inverse of Armature object scale
struct bConstraint* polarConstraint;
std::vector<IK_Target*> targets;
@@ -188,6 +190,7 @@
scene = NULL;
base = NULL;
solver = NULL;
+ blScale = blInvScale = 1.0f;
blArmature = NULL;
numchan = 0;
numjoint = 0;
@@ -594,9 +597,10 @@
float chanmat[4][4];
copy_m4_m4(chanmat, pchan->pose_mat);
copy_v3_v3(chanmat[3], pchan->pose_tail);
- // save the base as a frame too so that we can compute deformation
- // after simulation
+ // save the base as a frame too so that we can compute deformation after simulation
ikscene->baseFrame.setValue(&chanmat[0][0]);
+ // iTaSC armature is scaled to object scale, scale the base frame too
+ ikscene->baseFrame.p *= ikscene->blScale;
mult_m4_m4m4(rootmat, ikscene->blArmature->obmat, chanmat);
}
else {
@@ -1116,14 +1120,15 @@
return NULL;
}
ikscene->blArmature = ob;
+ // assume uniform scaling and take Y scale as general scale for the armature
+ ikscene->blScale = len_v3(ob->obmat[1]);
+ ikscene->blInvScale = (ikscene->blScale < KDL::epsilon) ? 0.0f : 1.0f/ikscene->blScale;
std::string joint;
std::string root("root");
std::string parent;
std::vector<double> weights;
double weight[3];
- // assume uniform scaling and take Y scale as general scale for the armature
- float scale = len_v3(ob->obmat[1]);
// build the array of joints corresponding to the IK chain
convert_channels(ikscene, tree);
if (ingame) {
@@ -1147,11 +1152,11 @@
fl[0][1], fl[1][1], fl[2][1],
fl[0][2], fl[1][2], fl[2][2]);
KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]);
- bpos = bpos*scale;
+ bpos *= ikscene->blScale;
KDL::Frame head(brot, bpos);
// rest pose length of the bone taking scaling into account
- length= bone->length*scale;
+ length= bone->length*ikscene->blScale;
parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root;
// first the fixed segment to the bone head
if (head.p.Norm() > KDL::epsilon || head.M.GetRot().Norm() > KDL::epsilon) {
@@ -1420,7 +1425,7 @@
// add the end effector
// estimate the average bone length, used to clamp feedback error
for (bonecnt=0, bonelen=0.f, a=iktarget->channel; a>=0; a=tree->parent[a], bonecnt++)
- bonelen += scale*tree->pchan[a]->bone->length;
+ bonelen += ikscene->blScale*tree->pchan[a]->bone->length;
bonelen /= bonecnt;
// store the rest pose of the end effector to compute enforce target
@@ -1527,15 +1532,23 @@
}
}
-static void init_scene(Object *ob)
+/* returns 1 if scaling has changed and tree must be reinitialized */
+static int init_scene(Object *ob)
{
+ // check also if scaling has changed
+ float scale = len_v3(ob->obmat[1]);
+ IK_Scene* scene;
+
if (ob->pose->ikdata) {
- for (IK_Scene* scene = ((IK_Data*)ob->pose->ikdata)->first;
+ for (scene = ((IK_Data*)ob->pose->ikdata)->first;
scene != NULL;
scene = scene->next) {
+ if (fabs(scene->blScale - scale) > KDL::epsilon)
+ return 1;
scene->channels[0].pchan->flag |= POSE_IKTREE;
}
}
+ return 0;
}
static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, float ctime, float frtime)
@@ -1682,6 +1695,10 @@
pchan = ikchan->pchan;
// tail mat
ikchan->frame.getValue(&pchan->pose_mat[0][0]);
+ // the scale of the object was included in the ik scene, take it out now
+ // because the pose channels are relative to the object
+ mul_v3_fl(pchan->pose_mat[3], ikscene->blInvScale);
+ length *= ikscene->blInvScale;
copy_v3_v3(pchan->pose_tail, pchan->pose_mat[3]);
// shift to head
copy_v3_v3(yaxis, pchan->pose_mat[1]);
@@ -1708,8 +1725,8 @@
int count = 0;
if (ob->pose->ikdata != NULL && !(ob->pose->flag & POSE_WAS_REBUILT)) {
- init_scene(ob);
- return;
+ if (!init_scene(ob))
+ return;
}
// first remove old scene
itasc_clear_data(ob->pose);
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