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Add and use a utility for computing B-Bone roll from custom handles. 

This also fixes a stability problem with the start handle
due to an incorrect matrix multiplication order.
This commit is contained in:
Alexander Gavrilov 2018-10-05 21:02:57 +03:00
parent 8044743741
commit a33a4e132e
2 changed files with 22 additions and 26 deletions
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3
source/blender/blenkernel/BKE_armature.h
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@ -109,7 +109,8 @@ void BKE_pose_where_is_bone_tail(struct bPoseChannel *pchan);
void get_objectspace_bone_matrix(struct Bone *bone, float M_accumulatedMatrix[4][4], int root, int posed);
void vec_roll_to_mat3(const float vec[3], const float roll, float mat[3][3]);
void vec_roll_to_mat3_normalized(const float nor[3], const float roll, float mat[3][3]);
void mat3_to_vec_roll(float mat[3][3], float r_vec[3], float *r_roll);
void mat3_to_vec_roll(const float mat[3][3], float r_vec[3], float *r_roll);
void mat3_vec_to_roll(const float mat[3][3], const float vec[3], float *r_roll);
/* Common Conversions Between Co-ordinate Spaces */
void BKE_armature_mat_world_to_pose(struct Object *ob, float inmat[4][4], float outmat[4][4]);

45
source/blender/blenkernel/intern/armature.c
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@ -650,7 +650,7 @@ void b_bone_spline_setup(bPoseChannel *pchan, int rest, Mat4 result_array[MAX_BB
int BKE_compute_b_bone_spline(BBoneSplineParameters *param, Mat4 result_array[MAX_BBONE_SUBDIV])
{
float scalemat[4][4], iscalemat[4][4];
float result[3][3], mat3[3][3], imat3[3][3];
float mat3[3][3];
float h1[3], roll1, h2[3], roll2;
float data[MAX_BBONE_SUBDIV + 1][4], *fp;
int a;
@ -678,14 +678,8 @@ int BKE_compute_b_bone_spline(BBoneSplineParameters *param, Mat4 result_array[MA
if (!param->prev_bbone) {
/* Find the previous roll to interpolate. */
copy_m3_m4(result, param->prev_mat); /* the desired rotation at beginning of next bone */
vec_roll_to_mat3(h1, 0.0f, mat3); /* the result of vec_roll without roll */
invert_m3_m3(imat3, mat3);
mul_m3_m3m3(mat3, result, imat3); /* the matrix transforming vec_roll to desired roll */
roll1 = atan2f(mat3[2][0], mat3[2][2]);
copy_m3_m4(mat3, param->prev_mat);
mat3_vec_to_roll(mat3, h1, &roll1);
}
}
else {
@ -707,14 +701,8 @@ int BKE_compute_b_bone_spline(BBoneSplineParameters *param, Mat4 result_array[MA
normalize_v3(h2);
/* Find the next roll to interpolate as well. */
copy_m3_m4(result, param->next_mat); /* the desired rotation at beginning of next bone */
vec_roll_to_mat3(h2, 0.0f, mat3); /* the result of vec_roll without roll */
invert_m3_m3(imat3, mat3);
mul_m3_m3m3(mat3, imat3, result); /* the matrix transforming vec_roll to desired roll */
roll2 = atan2f(mat3[2][0], mat3[2][2]);
copy_m3_m4(mat3, param->next_mat);
mat3_vec_to_roll(mat3, h2, &roll2);
}
else {
h2[0] = 0.0f; h2[1] = 1.0f; h2[2] = 0.0f;
@ -1716,23 +1704,30 @@ void BKE_rotMode_change_values(float quat[4], float eul[3], float axis[3], float
/* Computes vector and roll based on a rotation.
* "mat" must contain only a rotation, and no scaling. */
void mat3_to_vec_roll(float mat[3][3], float r_vec[3], float *r_roll)
void mat3_to_vec_roll(const float mat[3][3], float r_vec[3], float *r_roll)
{
if (r_vec) {
copy_v3_v3(r_vec, mat[1]);
}
if (r_roll) {
float vecmat[3][3], vecmatinv[3][3], rollmat[3][3];
vec_roll_to_mat3(mat[1], 0.0f, vecmat);
invert_m3_m3(vecmatinv, vecmat);
mul_m3_m3m3(rollmat, vecmatinv, mat);
*r_roll = atan2f(rollmat[2][0], rollmat[2][2]);
mat3_vec_to_roll(mat, mat[1], r_roll);
}
}
/* Computes roll around the vector that best approximates the matrix.
* If vec is the Y vector from purely rotational mat, result should be exact. */
void mat3_vec_to_roll(const float mat[3][3], const float vec[3], float *r_roll)
{
float vecmat[3][3], vecmatinv[3][3], rollmat[3][3];
vec_roll_to_mat3(vec, 0.0f, vecmat);
invert_m3_m3(vecmatinv, vecmat);
mul_m3_m3m3(rollmat, vecmatinv, mat);
*r_roll = atan2f(rollmat[2][0], rollmat[2][2]);
}
/* Calculates the rest matrix of a bone based on its vector and a roll around that vector. */
/* Given v = (v.x, v.y, v.z) our (normalized) bone vector, we want the rotation matrix M
* from the Y axis (so that M * (0, 1, 0) = v).