BL_ArmatureObject.cpp

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include "BL_ArmatureObject.h"
#include "BL_ActionActuator.h"
#include "KX_BlenderSceneConverter.h"
#include "MEM_guardedalloc.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_utildefines.h"
#include "BLI_ghash.h"
#include "BIK_api.h"
#include "BKE_action.h"
#include "BKE_armature.h"

#include "BKE_constraint.h"
#include "CTR_Map.h"
#include "CTR_HashedPtr.h"
#include "MEM_guardedalloc.h"
#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"
#include "DNA_nla_types.h"
#include "DNA_constraint_types.h"
#include "KX_PythonSeq.h"
#include "KX_PythonInit.h"
#include "KX_KetsjiEngine.h"

#include "MT_Matrix4x4.h"

void game_copy_pose(bPose **dst, bPose *src, int copy_constraint)
{
    bPose *out;
    bPoseChannel *pchan, *outpchan;
    GHash *ghash;
    
    /* the game engine copies the current armature pose and then swaps
     * the object pose pointer. this makes it possible to change poses
     * without affecting the original blender data. */

    if (!src) {
        *dst=NULL;
        return;
    }
    else if (*dst==src) {
        printf("copy_pose source and target are the same\n");
        *dst=NULL;
        return;
    }
    
    out= (bPose*)MEM_dupallocN(src);
    out->chanhash = NULL;
    out->agroups.first= out->agroups.last= NULL;
    out->ikdata = NULL;
    out->ikparam = MEM_dupallocN(out->ikparam);
    out->flag |= POSE_GAME_ENGINE;
    BLI_duplicatelist(&out->chanbase, &src->chanbase);

    /* remap pointers */
    ghash= BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp, "game_copy_pose gh");

    pchan= (bPoseChannel*)src->chanbase.first;
    outpchan= (bPoseChannel*)out->chanbase.first;
    for (; pchan; pchan=pchan->next, outpchan=outpchan->next)
        BLI_ghash_insert(ghash, pchan, outpchan);

    for (pchan=(bPoseChannel*)out->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
        pchan->parent= (bPoseChannel*)BLI_ghash_lookup(ghash, pchan->parent);
        pchan->child= (bPoseChannel*)BLI_ghash_lookup(ghash, pchan->child);

        if (copy_constraint) {
            ListBase listb;
            // copy all constraint for backward compatibility
            copy_constraints(&listb, &pchan->constraints, FALSE);  // copy_constraints NULLs listb, no need to make extern for this operation.
            pchan->constraints= listb;
        } else {
            pchan->constraints.first = NULL;
            pchan->constraints.last = NULL;
        }

        // fails to link, props are not used in the BGE yet.
        /* if(pchan->prop)
            pchan->prop= IDP_CopyProperty(pchan->prop); */
        pchan->prop= NULL;
    }

    BLI_ghash_free(ghash, NULL, NULL);
    // set acceleration structure for channel lookup
    make_pose_channels_hash(out);
    *dst=out;
}



/* Only allowed for Poses with identical channels */
void game_blend_poses(bPose *dst, bPose *src, float srcweight/*, short mode*/)
{
    short mode= ACTSTRIPMODE_BLEND;
    
    bPoseChannel *dchan;
    const bPoseChannel *schan;
    bConstraint *dcon, *scon;
    float dstweight;
    int i;

    switch (mode){
    case ACTSTRIPMODE_BLEND:
        dstweight = 1.0F - srcweight;
        break;
    case ACTSTRIPMODE_ADD:
        dstweight = 1.0F;
        break;
    default :
        dstweight = 1.0F;
    }
    
    schan= (bPoseChannel*)src->chanbase.first;
    for (dchan = (bPoseChannel*)dst->chanbase.first; dchan; dchan=(bPoseChannel*)dchan->next, schan= (bPoseChannel*)schan->next){
        // always blend on all channels since we don't know which one has been set
        /* quat interpolation done separate */
        if (schan->rotmode == ROT_MODE_QUAT) {
            float dquat[4], squat[4];
            
            copy_qt_qt(dquat, dchan->quat);
            copy_qt_qt(squat, schan->quat);
            if (mode==ACTSTRIPMODE_BLEND)
                interp_qt_qtqt(dchan->quat, dquat, squat, srcweight);
            else {
                mul_fac_qt_fl(squat, srcweight);
                mul_qt_qtqt(dchan->quat, dquat, squat);
            }
            
            normalize_qt(dchan->quat);
        }

        for (i=0; i<3; i++) {
            /* blending for loc and scale are pretty self-explanatory... */
            dchan->loc[i] = (dchan->loc[i]*dstweight) + (schan->loc[i]*srcweight);
            dchan->size[i] = 1.0f + ((dchan->size[i]-1.0f)*dstweight) + ((schan->size[i]-1.0f)*srcweight);
            
            /* euler-rotation interpolation done here instead... */
            // FIXME: are these results decent?
            if (schan->rotmode)
                dchan->eul[i] = (dchan->eul[i]*dstweight) + (schan->eul[i]*srcweight);
        }
        for(dcon= (bConstraint*)dchan->constraints.first, scon= (bConstraint*)schan->constraints.first; dcon && scon; dcon= (bConstraint*)dcon->next, scon= (bConstraint*)scon->next) {
            /* no 'add' option for constraint blending */
            dcon->enforce= dcon->enforce*(1.0f-srcweight) + scon->enforce*srcweight;
        }
    }
    
    /* this pose is now in src time */
    dst->ctime= src->ctime;
}

void game_free_pose(bPose *pose)
{
    if (pose) {
        /* free pose-channels and constraints */
        free_pose_channels(pose);
        
        /* free IK solver state */
        BIK_clear_data(pose);

        /* free IK solver param */
        if (pose->ikparam)
            MEM_freeN(pose->ikparam);

        MEM_freeN(pose);
    }
}

BL_ArmatureObject::BL_ArmatureObject(
                void* sgReplicationInfo, 
                SG_Callbacks callbacks, 
                Object *armature,
                Scene *scene,
                int vert_deform_type)

:   KX_GameObject(sgReplicationInfo,callbacks),
    m_controlledConstraints(),
    m_poseChannels(),
    m_objArma(armature),
    m_framePose(NULL),
    m_scene(scene), // maybe remove later. needed for where_is_pose
    m_lastframe(0.0),
    m_timestep(0.040),
    m_activeAct(NULL),
    m_activePriority(999),
    m_vert_deform_type(vert_deform_type),
    m_constraintNumber(0),
    m_channelNumber(0),
    m_lastapplyframe(0.0)
{
    m_armature = (bArmature *)armature->data;

    /* we make a copy of blender object's pose, and then always swap it with
     * the original pose before calling into blender functions, to deal with
     * replica's or other objects using the same blender object */
    m_pose = NULL;
    game_copy_pose(&m_pose, m_objArma->pose, 1);
    // store the original armature object matrix
    memcpy(m_obmat, m_objArma->obmat, sizeof(m_obmat));
}

BL_ArmatureObject::~BL_ArmatureObject()
{
    BL_ArmatureConstraint* constraint;
    while ((constraint = m_controlledConstraints.Remove()) != NULL) {
        delete constraint;
    }
    BL_ArmatureChannel* channel;
    while ((channel = static_cast<BL_ArmatureChannel*>(m_poseChannels.Remove())) != NULL) {
        delete channel;
    }
    if (m_pose)
        game_free_pose(m_pose);
    if (m_framePose)
        game_free_pose(m_framePose);
}


void BL_ArmatureObject::LoadConstraints(KX_BlenderSceneConverter* converter)
{
    // first delete any existing constraint (should not have any)
    while (!m_controlledConstraints.Empty()) {
        BL_ArmatureConstraint* constraint = m_controlledConstraints.Remove();
        delete constraint;
    }
    m_constraintNumber = 0;

    // list all the constraint and convert them to BL_ArmatureConstraint
    // get the persistent pose structure
    bPoseChannel* pchan;
    bConstraint* pcon;
    bConstraintTypeInfo* cti;
    Object* blendtarget;
    KX_GameObject* gametarget;
    KX_GameObject* gamesubtarget;

    // and locate the constraint
    for (pchan = (bPoseChannel*)m_pose->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
        for (pcon = (bConstraint*)pchan->constraints.first; pcon; pcon=(bConstraint*)pcon->next) {
            if (pcon->flag & CONSTRAINT_DISABLE)
                continue;
            // which constraint should we support?
            switch (pcon->type) {
            case CONSTRAINT_TYPE_TRACKTO:
            case CONSTRAINT_TYPE_KINEMATIC:
            case CONSTRAINT_TYPE_ROTLIKE:
            case CONSTRAINT_TYPE_LOCLIKE:
            case CONSTRAINT_TYPE_MINMAX:
            case CONSTRAINT_TYPE_SIZELIKE:
            case CONSTRAINT_TYPE_LOCKTRACK:
            case CONSTRAINT_TYPE_STRETCHTO:
            case CONSTRAINT_TYPE_CLAMPTO:
            case CONSTRAINT_TYPE_TRANSFORM:
            case CONSTRAINT_TYPE_DISTLIMIT:
            case CONSTRAINT_TYPE_TRANSLIKE:
                cti = constraint_get_typeinfo(pcon);
                gametarget = gamesubtarget = NULL;
                if (cti && cti->get_constraint_targets) {
                    ListBase listb = { NULL, NULL };
                    cti->get_constraint_targets(pcon, &listb);
                    if (listb.first) {
                        bConstraintTarget* target = (bConstraintTarget*)listb.first;
                        if (target->tar && target->tar != m_objArma) {
                            // only remember external objects, self target is handled automatically
                            blendtarget = target->tar;
                            gametarget = converter->FindGameObject(blendtarget);
                        }
                        if (target->next != NULL) {
                            // secondary target
                            target = (bConstraintTarget*)target->next;
                            if (target->tar && target->tar != m_objArma) {
                                // only track external object
                                blendtarget = target->tar;
                                gamesubtarget = converter->FindGameObject(blendtarget);
                            }
                        }
                    }
                    if (cti->flush_constraint_targets)
                        cti->flush_constraint_targets(pcon, &listb, 1);
                }
                BL_ArmatureConstraint* constraint = new BL_ArmatureConstraint(this, pchan, pcon, gametarget, gamesubtarget);
                m_controlledConstraints.AddBack(constraint);
                m_constraintNumber++;
            }
        }
    }
}

BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(const char* posechannel, const char* constraintname)
{
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end(); ++cit) {
        BL_ArmatureConstraint* constraint = *cit;
        if (constraint->Match(posechannel, constraintname))
            return constraint;
    }
    return NULL;
}

BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(const char* posechannelconstraint)
{
    // performance: use hash string instead of plain string compare
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end(); ++cit) {
        BL_ArmatureConstraint* constraint = *cit;
        if (!strcmp(constraint->GetName(), posechannelconstraint))
            return constraint;
    }
    return NULL;
}

BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(int index)
{
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end() && index; ++cit, --index);
    return (cit.end()) ? NULL : *cit;
}

/* this function is called to populate the m_poseChannels list */
void BL_ArmatureObject::LoadChannels()
{
    if (m_poseChannels.Empty()) {
        bPoseChannel* pchan;
        BL_ArmatureChannel* proxy;
    
        m_channelNumber = 0;
        for (pchan = (bPoseChannel*)m_pose->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
            proxy = new BL_ArmatureChannel(this, pchan);
            m_poseChannels.AddBack(proxy);
            m_channelNumber++;
        }
    }
}

BL_ArmatureChannel* BL_ArmatureObject::GetChannel(bPoseChannel* pchan)
{
    LoadChannels();
    SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
    for (cit.begin(); !cit.end(); ++cit) 
    {
        BL_ArmatureChannel* channel = *cit;
        if (channel->m_posechannel == pchan)
            return channel;
    }
    return NULL;
}

BL_ArmatureChannel* BL_ArmatureObject::GetChannel(const char* str)
{
    LoadChannels();
    SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
    for (cit.begin(); !cit.end(); ++cit) 
    {
        BL_ArmatureChannel* channel = *cit;
        if (!strcmp(channel->m_posechannel->name, str))
            return channel;
    }
    return NULL;
}

BL_ArmatureChannel* BL_ArmatureObject::GetChannel(int index)
{
    LoadChannels();
    if (index < 0 || index >= m_channelNumber)
        return NULL;
    SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
    for (cit.begin(); !cit.end() && index; ++cit, --index);
    return (cit.end()) ? NULL : *cit;
}

CValue* BL_ArmatureObject::GetReplica()
{
    BL_ArmatureObject* replica = new BL_ArmatureObject(*this);
    replica->ProcessReplica();
    return replica;
}

void BL_ArmatureObject::ProcessReplica()
{
    bPose *pose= m_pose;
    KX_GameObject::ProcessReplica();

    m_pose = NULL;
    m_framePose = NULL;
    game_copy_pose(&m_pose, pose, 1);   
}

void BL_ArmatureObject::ReParentLogic()
{
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end(); ++cit) {
        (*cit)->ReParent(this);
    }
    KX_GameObject::ReParentLogic();
}

void BL_ArmatureObject::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
{
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end(); ++cit) {
        (*cit)->Relink(obj_map);
    }
    KX_GameObject::Relink(obj_map);
}

bool BL_ArmatureObject::UnlinkObject(SCA_IObject* clientobj)
{
    // clientobj is being deleted, make sure we don't hold any reference to it
    bool res = false;
    SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
    for (cit.begin(); !cit.end(); ++cit) {
        res |= (*cit)->UnlinkObject(clientobj);
    }
    return res;
}

void BL_ArmatureObject::ApplyPose()
{
    m_armpose = m_objArma->pose;
    m_objArma->pose = m_pose;
    // in the GE, we use ctime to store the timestep
    m_pose->ctime = (float)m_timestep;
    //m_scene->r.cfra++;
    if(m_lastapplyframe != m_lastframe) {
        // update the constraint if any, first put them all off so that only the active ones will be updated
        SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
        for (cit.begin(); !cit.end(); ++cit) {
            (*cit)->UpdateTarget();
        }
        // update ourself
        UpdateBlenderObjectMatrix(m_objArma);
        where_is_pose(m_scene, m_objArma); // XXX
        // restore ourself
        memcpy(m_objArma->obmat, m_obmat, sizeof(m_obmat));
        // restore active targets
        for (cit.begin(); !cit.end(); ++cit) {
            (*cit)->RestoreTarget();
        }
        m_lastapplyframe = m_lastframe;
    }
}

void BL_ArmatureObject::RestorePose()
{
    m_objArma->pose = m_armpose;
    m_armpose = NULL;
}

void BL_ArmatureObject::SetPose(bPose *pose)
{
    extract_pose_from_pose(m_pose, pose);
    m_lastapplyframe = -1.0;
}

bool BL_ArmatureObject::SetActiveAction(BL_ActionActuator *act, short priority, double curtime)
{
    if (curtime != m_lastframe){
        m_activePriority = 9999;
        // compute the timestep for the underlying IK algorithm
        m_timestep = curtime-m_lastframe;
        m_lastframe= curtime;
        m_activeAct = NULL;
        // remember the pose at the start of the frame
        GetPose(&m_framePose);
    }

    if (act) 
    {
        if (priority<=m_activePriority)
        {
            if (priority<m_activePriority) {
                // this action overwrites the previous ones, start from initial pose to cancel their effects
                SetPose(m_framePose);
                if (m_activeAct && (m_activeAct!=act))
                    /* Reset the blend timer since this new action cancels the old one */
                    m_activeAct->SetBlendTime(0.0); 
            }
            m_activeAct = act;
            m_activePriority = priority;
            m_lastframe = curtime;
        
            return true;
        }
        else{
            act->SetBlendTime(0.0);
            return false;
        }
    }
    return false;
}

BL_ActionActuator * BL_ArmatureObject::GetActiveAction()
{
    return m_activeAct;
}

void BL_ArmatureObject::GetPose(bPose **pose)
{
    /* If the caller supplies a null pose, create a new one. */
    /* Otherwise, copy the armature's pose channels into the caller-supplied pose */
        
    if (!*pose) {
        /*  probably not to good of an idea to
            duplicate everying, but it clears up 
            a crash and memory leakage when 
            &BL_ActionActuator::m_pose is freed
        */
        game_copy_pose(pose, m_pose, 0);
    }
    else {
        if (*pose == m_pose)
            // no need to copy if the pointers are the same
            return;

        extract_pose_from_pose(*pose, m_pose);
    }
}

void BL_ArmatureObject::GetMRDPose(bPose **pose)
{
    /* If the caller supplies a null pose, create a new one. */
    /* Otherwise, copy the armature's pose channels into the caller-supplied pose */

    if (!*pose)
        game_copy_pose(pose, m_pose, 0);
    else
        extract_pose_from_pose(*pose, m_pose);
}

short BL_ArmatureObject::GetActivePriority()
{
    return m_activePriority;
}

double BL_ArmatureObject::GetLastFrame()
{
    return m_lastframe;
}

bool BL_ArmatureObject::GetBoneMatrix(Bone* bone, MT_Matrix4x4& matrix)
{
    bPoseChannel *pchan;

    ApplyPose();
    pchan = get_pose_channel(m_objArma->pose, bone->name);
    if(pchan)
        matrix.setValue(&pchan->pose_mat[0][0]);
    RestorePose();

    return (pchan != NULL);
}

float BL_ArmatureObject::GetBoneLength(Bone* bone) const
{
    return (float)(MT_Point3(bone->head) - MT_Point3(bone->tail)).length();
}

#ifdef WITH_PYTHON

// PYTHON

PyTypeObject BL_ArmatureObject::Type = {
    PyVarObject_HEAD_INIT(NULL, 0)
    "BL_ArmatureObject",
    sizeof(PyObjectPlus_Proxy),
    0,
    py_base_dealloc,
    0,
    0,
    0,
    0,
    py_base_repr,
    0,
    &KX_GameObject::Sequence,
    &KX_GameObject::Mapping,
    0,0,0,
    NULL,
    NULL,
    0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
    0,0,0,0,0,0,0,
    Methods,
    0,
    0,
    &KX_GameObject::Type,
    0,0,0,0,0,0,
    py_base_new
};

PyMethodDef BL_ArmatureObject::Methods[] = {

    KX_PYMETHODTABLE_NOARGS(BL_ArmatureObject, update),
    {NULL,NULL} //Sentinel
};

PyAttributeDef BL_ArmatureObject::Attributes[] = {

    KX_PYATTRIBUTE_RO_FUNCTION("constraints",       BL_ArmatureObject, pyattr_get_constraints),
    KX_PYATTRIBUTE_RO_FUNCTION("channels",      BL_ArmatureObject, pyattr_get_channels),
    {NULL} //Sentinel
};

PyObject* BL_ArmatureObject::pyattr_get_constraints(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
    return KX_PythonSeq_CreatePyObject((static_cast<BL_ArmatureObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_CONSTRAINTS);
}

PyObject* BL_ArmatureObject::pyattr_get_channels(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
    BL_ArmatureObject* self = static_cast<BL_ArmatureObject*>(self_v);
    self->LoadChannels(); // make sure we have the channels
    return KX_PythonSeq_CreatePyObject((static_cast<BL_ArmatureObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_CHANNELS);
}

KX_PYMETHODDEF_DOC_NOARGS(BL_ArmatureObject, update, 
                          "update()\n"
                          "Make sure that the armature will be updated on next graphic frame.\n"
                          "This is automatically done if a KX_ArmatureActuator with mode run is active\n"
                          "or if an action is playing. This function is useful in other cases.\n")
{
    SetActiveAction(NULL, 0, KX_GetActiveEngine()->GetFrameTime());
    Py_RETURN_NONE;
}

#endif // WITH_PYTHON