Armature-Pose IK goodies!

- Added option to the IK buttons, to have it use the 'tip' as end of the
  IK chain. I never really understood this old convention (IK didn't work
  on the Bone itself).
  Old files still will read OK though. But I made the "To Tip" a default
  when adding new IK constraints.

- Hotkey CTRL+I: add IK, with option to have it adding an Empty target,
  or use a selected Bone as target. With the new non-modal PoseMode, it
  gives instant access to playing with the IK chain.

- Hotkey ALT+I: clears IK, on all selected Bones

- Hotkey ALT+C: clears Constraints on all selected Bones (incl IK)

source/blender/blenkernel/BKE_constraint.h

@@ -60,7 +60,7 @@ void free_constraint_channels (ListBase *chanbase);
 
 char constraint_has_target (struct bConstraint *con);
 struct Object *get_constraint_target(struct bConstraint *con, char **subtarget);
-void set_constraint_target(struct bConstraint *con, struct Object *ob);
+void set_constraint_target(struct bConstraint *con, struct Object *ob, char *subtarget);
 
 
 /* Constraint target/owner types */

source/blender/blenkernel/intern/armature.c

@@ -791,11 +791,15 @@ static void initialize_posechain(struct Object *ob, bPoseChannel *pchan_tip)
 	/* Find the chain's root & count the segments needed */
 	for (curchan = pchan_tip; curchan; curchan=curchan->parent){
 		pchan_root = curchan;
-		/* tip is not in the chain */
-		if (curchan!=pchan_tip){
-			chanlist[segcount]=curchan;
-			segcount++;
+		
+		chanlist[segcount]=curchan;
+		segcount++;
+		
+		/* exclude tip from chain? */
+		if(curchan==pchan_tip) {
+			if(!(data->flag & CONSTRAINT_IK_TIP)) segcount--;
 		}
+		
 		if(segcount>255) break; // also weak
 		
 		if (!(curchan->bone->flag & BONE_IK_TOPARENT))

source/blender/blenkernel/intern/constraint.c

@@ -92,10 +92,9 @@ void free_constraints (ListBase *conlist)
 	bConstraint *con;
 	
 	/* Do any specific freeing */
-	for (con=conlist->first; con; con=con->next)
-	{
+	for (con=conlist->first; con; con=con->next) {
 		free_constraint_data (con);
-	};
+	}
 	
 	/* Free the whole list */
 	BLI_freelistN(conlist);
@@ -374,7 +373,7 @@ Object *get_constraint_target(bConstraint *con, char **subtarget)
 	return NULL;  
 }
 
-void set_constraint_target(bConstraint *con, Object *ob)
+void set_constraint_target(bConstraint *con, Object *ob, char *subtarget)
 {
 	/*
 	 * Set the target for this constraint  
@@ -384,36 +383,42 @@ void set_constraint_target(bConstraint *con, Object *ob)
 		{
 			bActionConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_LOCLIKE:
 		{
 			bLocateLikeConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_ROTLIKE:
 		{
 			bRotateLikeConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_KINEMATIC:
 		{
 			bKinematicConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
 		{
 			bTrackToConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_LOCKTRACK:
 		{
 			bLockTrackConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 		case CONSTRAINT_TYPE_FOLLOWPATH: 
@@ -426,6 +431,7 @@ void set_constraint_target(bConstraint *con, Object *ob)
 		{
 			bStretchToConstraint *data = con->data;
 			data->tar= ob;
+			if(subtarget) BLI_strncpy(data->subtarget, subtarget, 32);
 		}
 			break;
 	}
@@ -488,7 +494,8 @@ void *new_constraint_data (short type)
 
 			data->tolerance = (float)0.001;
 			data->iterations = 500;
-
+			data->flag= CONSTRAINT_IK_TIP;
+			
 			result = data;
 		}
 		break;

source/blender/blenkernel/intern/object.c

@@ -322,7 +322,7 @@ void unlink_object(Object *ob)
 				for(pchan= obt->pose->chanbase.first; pchan; pchan= pchan->next) {
 					for (con = pchan->constraints.first; con; con=con->next) {
 						if(ob==get_constraint_target(con, &str)) {
-							set_constraint_target(con, NULL);
+							set_constraint_target(con, NULL, NULL);
 							obt->recalc |= OB_RECALC_DATA;
 						}
 					}
@@ -333,7 +333,7 @@ void unlink_object(Object *ob)
 			
 			for (con = obt->constraints.first; con; con=con->next) {
 				if(ob==get_constraint_target(con, &str)) {
-					set_constraint_target(con, NULL);
+					set_constraint_target(con, NULL, NULL);
 					obt->recalc |= OB_RECALC_OB;
 				}
 			}

source/blender/include/BIF_poseobject.h

@@ -49,7 +49,11 @@ void set_pose_keys(struct Object *ob);
  */
 void exit_posemode(void);
 
+/* tools */
 void pose_special_editmenu(void);
+void pose_add_IK(void);
+void pose_clear_IK(void);
+void pose_clear_constraints(void);
 
 #endif
 

source/blender/makesdna/DNA_constraint_types.h

@@ -67,13 +67,11 @@ typedef struct bConstraint{
 typedef struct bKinematicConstraint{
 	Object		*tar;
 	float		tolerance;		/* Acceptable distance from target */
-	int			iterations;		/* Maximum number of iterations to try */
+	short		iterations;		/* Maximum number of iterations to try */
+	short		flag;			/* Like IK to Tip */
 	char		subtarget[32];	/* String to specify sub-object target */
 
-	float		cacheeff[3];	/* Target location cache */
-	int			reserved1;
 
-	float		cachemat[4][4];	/* Result cache */
 } bKinematicConstraint;
 
 typedef struct bTrackToConstraint{
@@ -219,5 +217,8 @@ typedef struct bStretchToConstraint{
 #define PLANE_Y		0x00000001
 #define PLANE_Z		0x00000002
 
+/* bKinematicConstraint->flag */
+#define CONSTRAINT_IK_TIP		1
+
 #endif
 

source/blender/src/buttons_object.c

@@ -529,15 +529,18 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
 				uiDefIDPoinBut(block, test_obpoin_but, B_CONSTRAINT_CHANGETARGET, "OB:", *xco+120, *yco-24, 135, 18, &data->tar, "Target Object"); 
 
 				arm = get_armature(data->tar);
-				if (arm){
+				if (arm)
 					but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco+120, *yco-42,135,18, &data->subtarget, 0, 24, 0, 0, "Subtarget Bone");
-				}
 				else
 					strcpy (data->subtarget, "");
 				uiBlockEndAlign(block);
 	
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_REDRAW, "Use Tip", *xco+((width/2)-117), *yco-42, 80, 18, &data->flag, 0, 0, 0, 0, "Include Bone's tip als last element in Chain");
+				
+				uiBlockBeginAlign(block);
 				uiDefButF(block, NUM, B_CONSTRAINT_REDRAW, "Tolerance:", *xco+((width/2)-117), *yco-64, 120, 18, &data->tolerance, 0.0001f, 1.0, 0.0, 0.0, "Maximum distance to target after solving"); 
-				uiDefButI(block, NUM, B_CONSTRAINT_REDRAW, "Iterations:", *xco+((width/2)+3), *yco-64, 120, 18, &data->iterations, 1, 10000, 0.0, 0.0, "Maximum number of solving iterations"); 
+				uiDefButS(block, NUM, B_CONSTRAINT_REDRAW, "Iterations:", *xco+((width/2)+3), *yco-64, 120, 18, &data->iterations, 1, 10000, 0.0, 0.0, "Maximum number of solving iterations"); 
+				uiBlockEndAlign(block);
 				
 			}
 			break;

source/blender/src/editarmature.c

@@ -1155,7 +1155,7 @@ static EditBone *add_editbone(void)
 	strcpy (bone->name,"Bone");
 	unique_editbone_name (bone->name);
 	
-	bone->flag |= BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
+	bone->flag |= BONE_TIPSEL;
 	bone->weight= 1.0F;
 	bone->dist= 1.0F;
 	bone->xwidth= 0.1;
@@ -1188,7 +1188,6 @@ static void add_primitive_bone(Object *ob)
 	
 	/*	Create a bone	*/
 	bone= add_editbone();
-	bone->flag |= BONE_ACTIVE;
 
 	VECCOPY(bone->head, curs);
 	VecAddf(bone->tail, bone->head, imat[1]);	// bone with unit length 1

source/blender/src/poseobject.c

@@ -6,10 +6,7 @@
  * 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. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
+ * 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
@@ -23,20 +20,16 @@
  * 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.
+ * Contributor(s): Ton Roosendaal, Blender Foundation '05, full recode.
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  * support for animation modes - Reevan McKay
  */
 
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
 #include <stdlib.h>
 
+#include "MEM_guardedalloc.h"
+
 #include "BLI_arithb.h"
 #include "BLI_blenlib.h"
 
@@ -51,16 +44,19 @@
 #include "BKE_action.h"
 #include "BKE_armature.h"
 #include "BKE_constraint.h"
-#include "BKE_global.h"
+#include "BKE_depsgraph.h"
 #include "BKE_displist.h"
+#include "BKE_global.h"
+#include "BKE_object.h"
 
+#include "BIF_editconstraint.h"
 #include "BIF_gl.h"
 #include "BIF_graphics.h"
 #include "BIF_interface.h"
+#include "BIF_poseobject.h"
 #include "BIF_space.h"
 #include "BIF_toolbox.h"
 #include "BIF_screen.h"
-#include "BIF_poseobject.h"
 
 #include "BDR_editobject.h"
 
@@ -144,13 +140,16 @@ void exit_posemode(void)
 	scrarea_queue_headredraw(curarea);
 }
 
+/* context: active channel */
 void pose_special_editmenu(void)
 {
 	Object *ob= OBACT;
 	bPoseChannel *pchan;
 	short nr;
 	
+	/* paranoia checks */
 	if(!ob && !ob->pose) return;
+	if(ob==G.obedit || (ob->flag & OB_POSEMODE)==0) return;
 	
 	for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next)
 		if(pchan->bone->flag & BONE_ACTIVE) break;
@@ -175,4 +174,155 @@ void pose_special_editmenu(void)
 	}
 }
 
+/* context: active channel, optional selected channel */
+void pose_add_IK(void)
+{
+	Object *ob= OBACT;
+	bPoseChannel *pchanact, *pchansel;
+	bConstraint *con;
+	short nr;
+	
+	/* paranoia checks */
+	if(!ob && !ob->pose) return;
+	if(ob==G.obedit || (ob->flag & OB_POSEMODE)==0) return;
+	
+	/* find active */
+	for(pchanact= ob->pose->chanbase.first; pchanact; pchanact= pchanact->next)
+		if(pchanact->bone->flag & BONE_ACTIVE) break;
+	if(pchanact==NULL) return;
+	
+	/* find selected */
+	for(pchansel= ob->pose->chanbase.first; pchansel; pchansel= pchansel->next) {
+		if(pchansel!=pchanact)
+			if(pchansel->bone->flag & BONE_SELECTED) break;
+	}
+	
+	for(con= pchanact->constraints.first; con; con= con->next) {
+		if(con->type==CONSTRAINT_TYPE_KINEMATIC) break;
+	}
+	if(con) {
+		error("Pose Channel already has IK");
+		return;
+	}
+	
+	if(pchansel)
+		nr= pupmenu("Add IK Constraint%t|To new Empty Object%x1|To selected Bone%x2");
+	else
+		nr= pupmenu("Add IK Constraint%t|To new Empty Object%x1");
+
+	if(nr<1) return;
+	
+	/* prevent weird chains... */
+	if(nr==2) {
+		bPoseChannel *pchan= pchanact;
+		while(pchan) {
+			if(pchan==pchansel) break;
+			if(pchan->bone->flag & BONE_IK_TOPARENT)
+				pchan= pchan->parent;
+			else pchan= NULL;
+		}
+		if(pchan) {
+			error("IK target should not be in the IK chain itself");
+			return;
+		}
+	}
+
+	con = add_new_constraint(CONSTRAINT_TYPE_KINEMATIC);
+	BLI_addtail(&pchanact->constraints, con);
+	pchanact->constflag |= PCHAN_HAS_IK;	// for draw, but also for detecting while pose solving
+	
+	/* add new empty as target */
+	if(nr==1) {
+		Base *base= BASACT;
+		Object *obt;
+		
+		obt= add_object(OB_EMPTY);
+		/* transform cent to global coords for loc */
+		VecMat4MulVecfl(obt->loc, ob->obmat, pchanact->pose_tail);
+		
+		set_constraint_target(con, obt, NULL);
+		
+		/* restore, add_object sets active */
+		BASACT= base;
+		base->flag |= SELECT;
+	}
+	else if(nr==2) {
+		set_constraint_target(con, ob, pchansel->name);
+	}
+	
+	ob->pose->flag |= POSE_RECALC;	// sort pose channels
+	DAG_scene_sort(G.scene);		// sort order of objects
+	
+	DAG_object_flush_update(G.scene, ob, OB_RECALC_DATA);	// and all its relations
+	
+	allqueue (REDRAWVIEW3D, 0);
+	allqueue (REDRAWBUTSOBJECT, 0);
+
+	BIF_undo_push("Add IK constraint");
+}
+
+/* context: all selected channels */
+void pose_clear_IK(void)
+{
+	Object *ob= OBACT;
+	bPoseChannel *pchan;
+	bConstraint *con;
+	bConstraint *next;
+	
+	/* paranoia checks */
+	if(!ob && !ob->pose) return;
+	if(ob==G.obedit || (ob->flag & OB_POSEMODE)==0) return;
+	
+	if(okee("Remove IK constraint(s)")==0) return;
+
+	for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
+		if(pchan->bone->flag & (BONE_ACTIVE|BONE_SELECTED)) {
+			
+			for(con= pchan->constraints.first; con; con= next) {
+				next= con->next;
+				if(con->type==CONSTRAINT_TYPE_KINEMATIC) {
+					BLI_remlink(&pchan->constraints, con);
+					free_constraint_data(con);
+					MEM_freeN(con);
+				}
+			}
+			pchan->constflag &= ~PCHAN_HAS_IK;
+		}
+	}
+	
+	DAG_object_flush_update(G.scene, ob, OB_RECALC_DATA);	// and all its relations
+	
+	allqueue (REDRAWVIEW3D, 0);
+	allqueue (REDRAWBUTSOBJECT, 0);
+	
+	BIF_undo_push("Remove IK constraint(s)");
+}
+
+void pose_clear_constraints(void)
+{
+	Object *ob= OBACT;
+	bPoseChannel *pchan;
+	
+	/* paranoia checks */
+	if(!ob && !ob->pose) return;
+	if(ob==G.obedit || (ob->flag & OB_POSEMODE)==0) return;
+	
+	if(okee("Remove Constraints")==0) return;
+	
+	/* find active */
+	for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
+		if(pchan->bone->flag & (BONE_ACTIVE|BONE_SELECTED)) {
+			free_constraints(&pchan->constraints);
+			pchan->constflag= 0;
+		}
+	}
+	
+	DAG_object_flush_update(G.scene, ob, OB_RECALC_DATA);	// and all its relations
+	
+	allqueue (REDRAWVIEW3D, 0);
+	allqueue (REDRAWBUTSOBJECT, 0);
+	
+	BIF_undo_push("Remove Constraint(s)");
+	
+}
 

source/blender/src/space.c

@@ -103,6 +103,7 @@
 #include "BIF_meshtools.h"
 #include "BIF_mywindow.h"
 #include "BIF_oops.h"
+#include "BIF_poseobject.h"
 #include "BIF_outliner.h"
 #include "BIF_resources.h"
 #include "BIF_screen.h"
@@ -1122,7 +1123,10 @@ static void winqreadview3dspace(ScrArea *sa, void *spacedata, BWinEvent *evt)
 					copy_attr_menu();
 				}
 				else if(G.qual==LR_ALTKEY) {
-					convertmenu();	/* editobject.c */
+					if(ob && (ob->flag & OB_POSEMODE))
+						pose_clear_constraints();	/* poseobject.c */
+					else
+						convertmenu();	/* editobject.c */
 				}
 				else if((G.qual==LR_SHIFTKEY)) {
 					view3d_home(1);
@@ -1295,6 +1299,17 @@ static void winqreadview3dspace(ScrArea *sa, void *spacedata, BWinEvent *evt)
 				}
 				break;
 			case IKEY:
+				if(G.obedit);
+				else if(G.qual==LR_CTRLKEY) {
+					if(ob && ob->type==OB_ARMATURE) 
+						if(ob->flag & OB_POSEMODE) 
+							pose_add_IK();
+				}
+				else if(G.qual==LR_ALTKEY) {
+					if(ob && ob->type==OB_ARMATURE) 
+						if(ob->flag & OB_POSEMODE) 
+							pose_clear_IK();
+				}
 				break;
 				
 			case JKEY: