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BKE_pchan: add BKE_pchan_rot_to_mat3 

Useful to get the un-scaled rotation from a pose channel.
This commit is contained in:
Campbell Barton 2019-05-01 13:15:44 +10:00
parent 340c564020
commit 5915d1f453
4 changed files with 34 additions and 24 deletions
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3
source/blender/blenkernel/BKE_armature.h
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@ -144,8 +144,9 @@ void BKE_armature_mat_pose_to_bone_ex(struct Depsgraph *depsgraph,
float outmat[4][4]);
void BKE_pchan_mat3_to_rot(struct bPoseChannel *pchan, float mat[3][3], bool use_compat);
void BKE_pchan_rot_to_mat3(const struct bPoseChannel *pchan, float mat[3][3]);
void BKE_pchan_apply_mat4(struct bPoseChannel *pchan, float mat[4][4], bool use_comat);
void BKE_pchan_to_mat4(struct bPoseChannel *pchan, float chan_mat[4][4]);
void BKE_pchan_to_mat4(const struct bPoseChannel *pchan, float chan_mat[4][4]);
void BKE_pchan_calc_mat(struct bPoseChannel *pchan);
/* Simple helper, computes the offset bone matrix. */

2
source/blender/blenkernel/BKE_object.h
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@ -153,7 +153,7 @@ struct Object *BKE_object_duplicate(struct Main *bmain,
void BKE_object_obdata_size_init(struct Object *ob, const float scale);
void BKE_object_scale_to_mat3(struct Object *ob, float mat[3][3]);
void BKE_object_rot_to_mat3(struct Object *ob, float mat[3][3], bool use_drot);
void BKE_object_rot_to_mat3(const struct Object *ob, float mat[3][3], bool use_drot);
void BKE_object_mat3_to_rot(struct Object *ob, float mat[3][3], bool use_compat);
void BKE_object_to_mat3(struct Object *ob, float mat[3][3]);
void BKE_object_to_mat4(struct Object *ob, float mat[4][4]);

51
source/blender/blenkernel/intern/armature.c
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@ -1872,6 +1872,33 @@ void BKE_pchan_mat3_to_rot(bPoseChannel *pchan, float mat[3][3], bool use_compat
}
}
/**
* Same as #BKE_object_rot_to_mat3().
*/
void BKE_pchan_rot_to_mat3(const bPoseChannel *pchan, float mat[3][3])
{
/* rotations may either be quats, eulers (with various rotation orders), or axis-angle */
if (pchan->rotmode > 0) {
/* euler rotations (will cause gimble lock,
* but this can be alleviated a bit with rotation orders) */
eulO_to_mat3(mat, pchan->eul, pchan->rotmode);
}
else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
/* axis-angle - not really that great for 3D-changing orientations */
axis_angle_to_mat3(mat, pchan->rotAxis, pchan->rotAngle);
}
else {
/* quats are normalized before use to eliminate scaling issues */
float quat[4];
/* NOTE: we now don't normalize the stored values anymore,
* since this was kindof evil in some cases but if this proves to be too problematic,
* switch back to the old system of operating directly on the stored copy. */
normalize_qt_qt(quat, pchan->quat);
quat_to_mat3(mat, quat);
}
}
/**
* Apply a 4x4 matrix to the pose bone,
* similar to #BKE_object_apply_mat4().
@ -2468,7 +2495,7 @@ void BKE_pose_rebuild(Main *bmain, Object *ob, bArmature *arm, const bool do_id_
/* ********************** THE POSE SOLVER ******************* */
/* loc/rot/size to given mat4 */
void BKE_pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4])
void BKE_pchan_to_mat4(const bPoseChannel *pchan, float chan_mat[4][4])
{
float smat[3][3];
float rmat[3][3];
@ -2477,26 +2504,8 @@ void BKE_pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4])
/* get scaling matrix */
size_to_mat3(smat, pchan->size);
/* rotations may either be quats, eulers (with various rotation orders), or axis-angle */
if (pchan->rotmode > 0) {
/* euler rotations (will cause gimble lock,
* but this can be alleviated a bit with rotation orders) */
eulO_to_mat3(rmat, pchan->eul, pchan->rotmode);
}
else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
/* axis-angle - not really that great for 3D-changing orientations */
axis_angle_to_mat3(rmat, pchan->rotAxis, pchan->rotAngle);
}
else {
/* quats are normalized before use to eliminate scaling issues */
float quat[4];
/* NOTE: we now don't normalize the stored values anymore,
* since this was kindof evil in some cases but if this proves to be too problematic,
* switch back to the old system of operating directly on the stored copy. */
normalize_qt_qt(quat, pchan->quat);
quat_to_mat3(rmat, quat);
}
/* get rotation matrix */
BKE_pchan_rot_to_mat3(pchan, rmat);
/* calculate matrix of bone (as 3x3 matrix, but then copy the 4x4) */
mul_m3_m3m3(tmat, rmat, smat);

2
source/blender/blenkernel/intern/object.c
View File

@ -2016,7 +2016,7 @@ void BKE_object_scale_to_mat3(Object *ob, float mat[3][3])
size_to_mat3(mat, vec);
}
void BKE_object_rot_to_mat3(Object *ob, float mat[3][3], bool use_drot)
void BKE_object_rot_to_mat3(const Object *ob, float mat[3][3], bool use_drot)
{
float rmat[3][3], dmat[3][3];