transform_convert_armature.cc

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/* SPDX-FileCopyrightText: 2001-2002 NaN Holding BV. All rights reserved.
 *
 * SPDX-License-Identifier: GPL-2.0-or-later */

 
#include <algorithm>
 
#include "DNA_armature_types.h"
#include "DNA_constraint_types.h"
 
#include "MEM_guardedalloc.h"
 
#include "BLI_ghash.h"
#include "BLI_listbase.h"
#include "BLI_math_matrix.h"
#include "BLI_math_rotation.h"
#include "BLI_math_vector.h"
 
#include "BKE_action.hh"
#include "BKE_armature.hh"
#include "BKE_constraint.h"
#include "BKE_context.hh"
#include "BKE_report.hh"
 
#include "BIK_api.h"
 
#include "ED_anim_api.hh"
#include "ED_armature.hh"
 
#include "DEG_depsgraph.hh"
#include "DEG_depsgraph_build.hh"
 
#include "ANIM_action.hh"
#include "ANIM_armature.hh"
#include "ANIM_bone_collections.hh"
#include "ANIM_keyframing.hh"
#include "ANIM_rna.hh"
 
#include "transform.hh"
#include "transform_orientations.hh"
#include "transform_snap.hh"
 
/* Own include. */
#include "transform_convert.hh"
 
namespace blender::ed::transform {
 
struct BoneInitData {
  EditBone *bone;
  float tail[3];
  float rad_head;
  float rad_tail;
  float roll;
  float head[3];
  float dist;
  float xwidth;
  float zwidth;
};
 
/* Return if we need to update motion paths, only if they already exist,
 * and we will insert a keyframe at the end of transform. */
static bool motionpath_need_update_pose(Scene *scene, Object *ob)
{
  if (animrig::autokeyframe_cfra_can_key(scene, &ob->id)) {
    return (ob->pose->avs.path_bakeflag & MOTIONPATH_BAKE_HAS_PATHS) != 0;
  }
 
  return false;
}
 
static bConstraint *add_temporary_ik_constraint(bPoseChannel *pchan,
                                                bKinematicConstraint *targetless_con)
{
  bConstraint *con = BKE_constraint_add_for_pose(
      nullptr, pchan, "TempConstraint", CONSTRAINT_TYPE_KINEMATIC);
 
  /* For draw, but also for detecting while pose solving. */
  pchan->constflag |= (PCHAN_HAS_IK | PCHAN_HAS_NO_TARGET);
 
  bKinematicConstraint *temp_con_data = static_cast<bKinematicConstraint *>(con->data);
 
  if (targetless_con) {
    /* If exists, use values from last targetless (but disabled) IK-constraint as base. */
    *temp_con_data = *targetless_con;
  }
  else {
    temp_con_data->flag = CONSTRAINT_IK_TIP;
  }
 
  temp_con_data->flag |= CONSTRAINT_IK_TEMP | CONSTRAINT_IK_AUTO | CONSTRAINT_IK_POS;
 
  return con;
}
 
static void update_deg_with_temporary_ik(Main *bmain, Object *ob)
{
  BIK_clear_data(ob->pose);
  /* TODO(sergey): Consider doing partial update only. */
  DEG_relations_tag_update(bmain);
}
 
/* -------------------------------------------------------------------- */
 
static bKinematicConstraint *has_targetless_ik(bPoseChannel *pchan)
{
  bConstraint *con = static_cast<bConstraint *>(pchan->constraints.first);
 
  for (; con; con = con->next) {
    if (con->type == CONSTRAINT_TYPE_KINEMATIC && (con->flag & CONSTRAINT_OFF) == 0 &&
        (con->enforce != 0.0f))
    {
      bKinematicConstraint *data = static_cast<bKinematicConstraint *>(con->data);
 
      if (data->tar == nullptr) {
        return data;
      }
      if (data->tar->type == OB_ARMATURE && data->subtarget[0] == 0) {
        return data;
      }
    }
  }
  return nullptr;
}

static short pose_grab_with_ik_add(bPoseChannel *pchan)
{
  bKinematicConstraint *targetless = nullptr;
  bKinematicConstraint *data;
 
  /* Sanity check. */
  if (pchan == nullptr) {
    return 0;
  }
 
  /* Rule: not if there's already an IK on this channel. */
  LISTBASE_FOREACH (bConstraint *, con, &pchan->constraints) {
    if (con->type == CONSTRAINT_TYPE_KINEMATIC && (con->flag & CONSTRAINT_OFF) == 0) {
      data = static_cast<bKinematicConstraint *>(con->data);
 
      if (data->tar == nullptr || (data->tar->type == OB_ARMATURE && data->subtarget[0] == '\0')) {
        /* Make reference to constraint to base things off later
         * (if it's the last targetless constraint encountered). */
        targetless = (bKinematicConstraint *)con->data;
 
        /* But, if this is a targetless IK, we make it auto anyway (for the children loop). */
        if (con->enforce != 0.0f) {
          data->flag |= CONSTRAINT_IK_AUTO;
 
          /* If no chain length has been specified,
           * just make things obey standard rotation locks too. */
          if (data->rootbone == 0) {
            for (bPoseChannel *pchan_iter = pchan; pchan_iter; pchan_iter = pchan_iter->parent) {
              /* Here, we set IK-settings for bone from `pchan->protectflag`. */
              /* XXX: careful with quaternion/axis-angle rotations
               * where we're locking 4d components. */
              if (pchan_iter->protectflag & OB_LOCK_ROTX) {
                pchan_iter->ikflag |= BONE_IK_NO_XDOF_TEMP;
              }
              if (pchan_iter->protectflag & OB_LOCK_ROTY) {
                pchan_iter->ikflag |= BONE_IK_NO_YDOF_TEMP;
              }
              if (pchan_iter->protectflag & OB_LOCK_ROTZ) {
                pchan_iter->ikflag |= BONE_IK_NO_ZDOF_TEMP;
              }
            }
          }
 
          /* Return early (as in: don't actually create a temporary constraint here), since adding
           * will take place later in add_pose_transdata() for targetless constraints. */
          return 0;
        }
      }
 
      if ((con->flag & CONSTRAINT_DISABLE) == 0 && (con->enforce != 0.0f)) {
        return 0;
      }
    }
  }
 
  data = static_cast<bKinematicConstraint *>(add_temporary_ik_constraint(pchan, targetless)->data);
 
  copy_v3_v3(data->grabtarget, pchan->pose_tail);
 
  /* Watch-it! has to be 0 here, since we're still on the
   * same bone for the first time through the loop #25885. */
  data->rootbone = 0;
 
  /* We only include bones that are part of a continual connected chain. */
  do {
    /* Here, we set IK-settings for bone from `pchan->protectflag`. */
    /* XXX: careful with quaternion/axis-angle rotations where we're locking 4D components. */
    if (pchan->protectflag & OB_LOCK_ROTX) {
      pchan->ikflag |= BONE_IK_NO_XDOF_TEMP;
    }
    if (pchan->protectflag & OB_LOCK_ROTY) {
      pchan->ikflag |= BONE_IK_NO_YDOF_TEMP;
    }
    if (pchan->protectflag & OB_LOCK_ROTZ) {
      pchan->ikflag |= BONE_IK_NO_ZDOF_TEMP;
    }
 
    /* Now we count this pchan as being included. */
    data->rootbone++;
 
    /* Continue to parent, but only if we're connected to it. */
    if (pchan->bone->flag & BONE_CONNECTED) {
      pchan = pchan->parent;
    }
    else {
      pchan = nullptr;
    }
  } while (pchan);
 
  /* Make a copy of maximum chain-length. */
  data->max_rootbone = data->rootbone;
 
  return 1;
}

static short pose_grab_with_ik_children(bPose *pose, Bone *bone)
{
  short wentdeeper = 0, added = 0;
 
  /* Go deeper if children & children are connected. */
  LISTBASE_FOREACH (Bone *, bonec, &bone->childbase) {
    if (bonec->flag & BONE_CONNECTED) {
      wentdeeper = 1;
      added += pose_grab_with_ik_children(pose, bonec);
    }
  }
  if (wentdeeper == 0) {
    bPoseChannel *pchan = BKE_pose_channel_find_name(pose, bone->name);
    if (pchan) {
      added += pose_grab_with_ik_add(pchan);
    }
  }
 
  return added;
}
 
/* Main call which adds temporal IK chains. */
static short pose_grab_with_ik(Main *bmain, Object *ob)
{
  bArmature *arm;
  Bone *bonec;
  short tot_ik = 0;
 
  if ((ob == nullptr) || (ob->pose == nullptr) || (ob->mode & OB_MODE_POSE) == 0) {
    return 0;
  }
 
  arm = static_cast<bArmature *>(ob->data);
 
  /* Rule: allow multiple Bones
   * (but they must be selected, and only one ik-solver per chain should get added). */
  LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
    if (BKE_pose_is_bonecoll_visible(arm, pchan)) {
      if (pchan->bone->flag & (BONE_SELECTED | BONE_TRANSFORM_MIRROR)) {
        /* Rule: no IK for solitary (unconnected) bones. */
        for (bonec = static_cast<Bone *>(pchan->bone->childbase.first); bonec; bonec = bonec->next)
        {
          if (bonec->flag & BONE_CONNECTED) {
            break;
          }
        }
        if ((pchan->bone->flag & BONE_CONNECTED) == 0 && (bonec == nullptr)) {
          continue;
        }
 
        /* Rule: if selected Bone is not a root bone, it gets a temporal IK. */
        if (pchan->parent) {
          /* Only adds if there's no IK yet (and no parent bone was selected). */
          bPoseChannel *parent;
          for (parent = pchan->parent; parent; parent = parent->parent) {
            if (parent->bone->flag & (BONE_SELECTED | BONE_TRANSFORM_MIRROR)) {
              break;
            }
          }
          if (parent == nullptr) {
            tot_ik += pose_grab_with_ik_add(pchan);
          }
        }
        else {
          /* Rule: go over the children and add IK to the tips. */
          tot_ik += pose_grab_with_ik_children(ob->pose, pchan->bone);
        }
      }
    }
  }
 
  /* `ITaSC` needs clear for new IK constraints. */
  if (tot_ik) {
    update_deg_with_temporary_ik(bmain, ob);
  }
 
  return (tot_ik) ? 1 : 0;
}

 
/* -------------------------------------------------------------------- */
 
struct PoseInitData_Mirror {
  bPoseChannel *pchan;
  struct {
    float loc[3];
    float scale[3];
    union {
      float eul[3];
      float quat[4];
      float axis_angle[4];
    };
    float curve_in_x;
    float curve_out_x;
    float roll1;
    float roll2;
  } orig;
  float offset_mtx[4][4];
};
 
static void pose_mirror_info_init(PoseInitData_Mirror *pid,
                                  bPoseChannel *pchan,
                                  bPoseChannel *pchan_orig,
                                  bool is_mirror_relative)
{
  pid->pchan = pchan;
  copy_v3_v3(pid->orig.loc, pchan->loc);
  copy_v3_v3(pid->orig.scale, pchan->scale);
  pid->orig.curve_in_x = pchan->curve_in_x;
  pid->orig.curve_out_x = pchan->curve_out_x;
  pid->orig.roll1 = pchan->roll1;
  pid->orig.roll2 = pchan->roll2;
 
  if (pchan->rotmode > 0) {
    copy_v3_v3(pid->orig.eul, pchan->eul);
  }
  else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
    copy_v3_v3(pid->orig.axis_angle, pchan->rotAxis);
    pid->orig.axis_angle[3] = pchan->rotAngle;
  }
  else {
    copy_qt_qt(pid->orig.quat, pchan->quat);
  }
 
  if (is_mirror_relative) {
    float pchan_mtx[4][4];
    float pchan_mtx_mirror[4][4];
 
    float flip_mtx[4][4];
    unit_m4(flip_mtx);
    flip_mtx[0][0] = -1;
 
    BKE_pchan_to_mat4(pchan_orig, pchan_mtx_mirror);
    BKE_pchan_to_mat4(pchan, pchan_mtx);
 
    mul_m4_m4m4(pchan_mtx_mirror, pchan_mtx_mirror, flip_mtx);
    mul_m4_m4m4(pchan_mtx_mirror, flip_mtx, pchan_mtx_mirror);
 
    invert_m4(pchan_mtx_mirror);
    mul_m4_m4m4(pid->offset_mtx, pchan_mtx, pchan_mtx_mirror);
  }
  else {
    unit_m4(pid->offset_mtx);
  }
}

 
/* -------------------------------------------------------------------- */
 
static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, TransData *td)
{
  Bone *bone = pchan->bone;
  float pmat[3][3], omat[3][3];
  float cmat[3][3], tmat[3][3];
  float vec[3];
 
  copy_v3_v3(vec, pchan->pose_mat[3]);
  copy_v3_v3(td->center, vec);
 
  td->flag = TD_SELECTED;
  if (bone->flag & BONE_HINGE_CHILD_TRANSFORM) {
    td->flag |= TD_NOCENTER;
  }
 
  if (bone->flag & BONE_TRANSFORM_CHILD) {
    td->flag |= TD_NOCENTER;
    td->flag |= TD_NO_LOC;
  }
 
  td->extra = pchan;
  td->protectflag = pchan->protectflag;
 
  td->loc = pchan->loc;
  copy_v3_v3(td->iloc, pchan->loc);
 
  td->ext->scale = pchan->scale;
  copy_v3_v3(td->ext->iscale, pchan->scale);
 
  if (pchan->rotmode > 0) {
    td->ext->rot = pchan->eul;
    td->ext->rotAxis = nullptr;
    td->ext->rotAngle = nullptr;
    td->ext->quat = nullptr;
 
    copy_v3_v3(td->ext->irot, pchan->eul);
  }
  else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
    td->ext->rot = nullptr;
    td->ext->rotAxis = pchan->rotAxis;
    td->ext->rotAngle = &pchan->rotAngle;
    td->ext->quat = nullptr;
 
    td->ext->irotAngle = pchan->rotAngle;
    copy_v3_v3(td->ext->irotAxis, pchan->rotAxis);
  }
  else {
    td->ext->rot = nullptr;
    td->ext->rotAxis = nullptr;
    td->ext->rotAngle = nullptr;
    td->ext->quat = pchan->quat;
 
    copy_qt_qt(td->ext->iquat, pchan->quat);
  }
  td->ext->rotOrder = pchan->rotmode;
 
  /* Proper way to get parent transform + our own transform + constraints transform. */
  copy_m3_m4(omat, ob->object_to_world().ptr());
 
  /* New code, using "generic" BKE_bone_parent_transform_calc_from_pchan(). */
  {
    BoneParentTransform bpt;
    float rpmat[3][3];
 
    BKE_bone_parent_transform_calc_from_pchan(pchan, &bpt);
    if (t->mode == TFM_TRANSLATION) {
      copy_m3_m4(pmat, bpt.loc_mat);
    }
    else {
      copy_m3_m4(pmat, bpt.rotscale_mat);
    }
 
    /* Grrr! Exceptional case: When translating pose bones that are either Hinge or NoLocal,
     * and want align snapping, we just need both loc_mat and rotscale_mat.
     * So simply always store rotscale mat in td->ext, and always use it to apply rotations...
     * Ugly to need such hacks! :/ */
    copy_m3_m4(rpmat, bpt.rotscale_mat);
 
    if (constraints_list_needinv(t, &pchan->constraints)) {
      copy_m3_m4(tmat, pchan->constinv);
      invert_m3_m3(cmat, tmat);
      mul_m3_series(td->mtx, cmat, omat, pmat);
      mul_m3_series(td->ext->r_mtx, cmat, omat, rpmat);
    }
    else {
      mul_m3_series(td->mtx, omat, pmat);
      mul_m3_series(td->ext->r_mtx, omat, rpmat);
    }
    invert_m3_m3(td->ext->r_smtx, td->ext->r_mtx);
  }
 
  pseudoinverse_m3_m3(td->smtx, td->mtx, PSEUDOINVERSE_EPSILON);
 
  /* Exceptional case: rotate the pose bone which also applies transformation
   * when a parentless bone has #BONE_NO_LOCAL_LOCATION []. */
  if (!ELEM(t->mode, TFM_TRANSLATION, TFM_RESIZE) && (pchan->bone->flag & BONE_NO_LOCAL_LOCATION))
  {
    if (pchan->parent) {
      /* Same as `td->smtx` but without `pchan->bone->bone_mat`. */
      td->flag |= TD_PBONE_LOCAL_MTX_C;
      mul_m3_m3m3(td->ext->l_smtx, pchan->bone->bone_mat, td->smtx);
    }
    else {
      td->flag |= TD_PBONE_LOCAL_MTX_P;
    }
  }
 
  /* For `axismtx` we use the bone's own transform. */
  copy_m3_m4(pmat, pchan->pose_mat);
  mul_m3_m3m3(td->axismtx, omat, pmat);
  normalize_m3(td->axismtx);
 
  if (t->orient_type_mask & (1 << V3D_ORIENT_GIMBAL)) {
    if (!gimbal_axis_pose(ob, pchan, td->ext->axismtx_gimbal)) {
      copy_m3_m3(td->ext->axismtx_gimbal, td->axismtx);
    }
  }
 
  if (t->mode == TFM_BONE_ENVELOPE_DIST) {
    td->loc = nullptr;
    td->val = &bone->dist;
    td->ival = bone->dist;
  }
  else if (t->mode == TFM_BONESIZE) {
    /* Abusive storage of scale in the loc pointer :). */
    td->loc = &bone->xwidth;
    copy_v3_v3(td->iloc, td->loc);
    td->val = nullptr;
  }
 
  /* In this case we can do target-less IK grabbing. */
  if (t->mode == TFM_TRANSLATION) {
    bKinematicConstraint *data = has_targetless_ik(pchan);
    if (data) {
      if (data->flag & CONSTRAINT_IK_TIP) {
        copy_v3_v3(data->grabtarget, pchan->pose_tail);
      }
      else {
        copy_v3_v3(data->grabtarget, pchan->pose_head);
      }
      td->loc = data->grabtarget;
      copy_v3_v3(td->iloc, td->loc);
 
      data->flag |= CONSTRAINT_IK_AUTO;
 
      /* Add a temporary auto IK constraint here, as we will only temporarily active this
       * targetless bone during transform. (Targetless IK constraints are treated as if they are
       * disabled unless they are transformed).
       * Only do this for targetless IK though, AutoIK already added a constraint in
       * pose_grab_with_ik_add() beforehand. */
      if ((data->flag & CONSTRAINT_IK_TEMP) == 0) {
        add_temporary_ik_constraint(pchan, data);
        Main *bmain = CTX_data_main(t->context);
        update_deg_with_temporary_ik(bmain, ob);
      }
 
      /* Only object matrix correction. */
      copy_m3_m3(td->mtx, omat);
      pseudoinverse_m3_m3(td->smtx, td->mtx, PSEUDOINVERSE_EPSILON);
    }
  }
 
  /* Store reference to first constraint. */
  td->con = static_cast<bConstraint *>(pchan->constraints.first);
}
 
static void createTransPose(bContext * /*C*/, TransInfo *t)
{
  Main *bmain = CTX_data_main(t->context);
 
  t->data_len_all = 0;
 
  bool has_translate_rotate_buf[2] = {false, false};
  bool *has_translate_rotate = (t->mode == TFM_TRANSLATION) ? has_translate_rotate_buf : nullptr;
 
  FOREACH_TRANS_DATA_CONTAINER (t, tc) {
    Object *ob = tc->poseobj;
    bPose *pose = ob->pose;
 
    bArmature *arm;
 
    /* Check validity of state. */
    arm = BKE_armature_from_object(tc->poseobj);
    if ((arm == nullptr) || (pose == nullptr)) {
      continue;
    }
 
    const bool mirror = ((pose->flag & POSE_MIRROR_EDIT) != 0);
 
    /* Set flags. */
    transform_convert_pose_transflags_update(ob, t->mode, t->around);
 
    /* Now count, and check if we have autoIK or have to switch from translate to rotate. */
    LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
      Bone *bone = pchan->bone;
      if (!(bone->flag & BONE_TRANSFORM)) {
        continue;
      }
 
      tc->data_len++;
 
      if (has_translate_rotate != nullptr) {
        if (has_translate_rotate[0] && has_translate_rotate[1]) {
          continue;
        }
 
        if (has_targetless_ik(pchan) == nullptr) {
          if (pchan->parent && (bone->flag & BONE_CONNECTED)) {
            if (bone->flag & BONE_HINGE_CHILD_TRANSFORM) {
              has_translate_rotate[0] = true;
            }
          }
          else {
            if ((pchan->protectflag & OB_LOCK_LOC) != OB_LOCK_LOC) {
              has_translate_rotate[0] = true;
            }
          }
          if ((pchan->protectflag & OB_LOCK_ROT) != OB_LOCK_ROT) {
            has_translate_rotate[1] = true;
          }
        }
        else {
          has_translate_rotate[0] = true;
        }
      }
    }
 
    if (tc->data_len == 0) {
      continue;
    }
 
    if (arm->flag & ARM_RESTPOS) {
      if (ELEM(t->mode, TFM_DUMMY, TFM_BONESIZE) == 0) {
        BKE_report(t->reports, RPT_ERROR, "Cannot change Pose when 'Rest Position' is enabled");
        tc->data_len = 0;
        continue;
      }
    }
 
    if (mirror) {
      int total_mirrored = 0;
      LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
        /* Clear the MIRROR flag from previous runs. */
        pchan->bone->flag &= ~BONE_TRANSFORM_MIRROR;
 
        if ((pchan->bone->flag & BONE_TRANSFORM) &&
            BKE_pose_channel_get_mirrored(ob->pose, pchan->name))
        {
          total_mirrored++;
        }
      }
 
      PoseInitData_Mirror *pid = MEM_malloc_arrayN<PoseInitData_Mirror>((total_mirrored + 1),
                                                                        "PoseInitData_Mirror");
 
      /* Trick to terminate iteration. */
      pid[total_mirrored].pchan = nullptr;
 
      tc->custom.type.data = pid;
      tc->custom.type.use_free = true;
    }
  }
 
  FOREACH_TRANS_DATA_CONTAINER (t, tc) {
    if (tc->data_len == 0) {
      continue;
    }
    Object *ob = tc->poseobj;
    TransData *td;
    TransDataExtension *tdx;
    int i;
 
    PoseInitData_Mirror *pid = static_cast<PoseInitData_Mirror *>(tc->custom.type.data);
    int pid_index = 0;
    bPose *pose = ob->pose;
 
    if (pose == nullptr) {
      continue;
    }
 
    const bool mirror = ((pose->flag & POSE_MIRROR_EDIT) != 0);
    const bool is_mirror_relative = ((pose->flag & POSE_MIRROR_RELATIVE) != 0);
 
    /* We also allow non-active objects to be transformed, in weight-paint. */
    tc->poseobj = ob;
 
    /* Initialize trans data. */
    td = tc->data = MEM_calloc_arrayN<TransData>(tc->data_len, "TransPoseBone");
    tdx = tc->data_ext = MEM_calloc_arrayN<TransDataExtension>(tc->data_len, "TransPoseBoneExt");
    for (i = 0; i < tc->data_len; i++, td++, tdx++) {
      td->ext = tdx;
      td->val = nullptr;
    }
 
    if (mirror) {
      LISTBASE_FOREACH (bPoseChannel *, pchan, &pose->chanbase) {
        if (pchan->bone->flag & BONE_TRANSFORM) {
          bPoseChannel *pchan_mirror = BKE_pose_channel_get_mirrored(ob->pose, pchan->name);
          if (pchan_mirror) {
            pchan_mirror->bone->flag |= BONE_TRANSFORM_MIRROR;
            pose_mirror_info_init(&pid[pid_index], pchan_mirror, pchan, is_mirror_relative);
            pid_index++;
          }
        }
      }
    }
 
    /* Do we need to add temporal IK chains? */
    if ((pose->flag & POSE_AUTO_IK) && t->mode == TFM_TRANSLATION) {
      if (pose_grab_with_ik(bmain, ob)) {
        t->flag |= T_AUTOIK;
        has_translate_rotate[0] = true;
      }
    }
 
    /* Use pose channels to fill trans data. */
    td = tc->data;
    LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
      if (pchan->bone->flag & BONE_TRANSFORM) {
        add_pose_transdata(t, pchan, ob, td);
        td++;
      }
    }
 
    if (td != (tc->data + tc->data_len)) {
      BKE_report(t->reports, RPT_DEBUG, "Bone selection count error");
    }
  }
 
  /* Initialize initial auto=IK chain-length's? */
  if (t->flag & T_AUTOIK) {
    transform_autoik_update(t, 0);
  }
 
  /* If there are no translatable bones, do rotation. */
  if ((t->mode == TFM_TRANSLATION) && !has_translate_rotate[0]) {
    if (has_translate_rotate[1]) {
      t->mode = TFM_ROTATION;
    }
    else {
      t->mode = TFM_RESIZE;
    }
  }
}
 
static void createTransArmatureVerts(bContext * /*C*/, TransInfo *t)
{
  t->data_len_all = 0;
 
  FOREACH_TRANS_DATA_CONTAINER (t, tc) {
    bArmature *arm = static_cast<bArmature *>(tc->obedit->data);
    ListBase *edbo = arm->edbo;
    bool mirror = ((arm->flag & ARM_MIRROR_EDIT) != 0);
    int total_mirrored = 0;
 
    tc->data_len = 0;
    LISTBASE_FOREACH (EditBone *, ebo, edbo) {
      const int data_len_prev = tc->data_len;
 
      if (blender::animrig::bone_is_visible_editbone(arm, ebo) &&
          !(ebo->flag & BONE_EDITMODE_LOCKED))
      {
        if (ELEM(t->mode, TFM_BONESIZE, TFM_BONE_ENVELOPE_DIST)) {
          if (ebo->flag & BONE_SELECTED) {
            tc->data_len++;
          }
        }
        else if (t->mode == TFM_BONE_ROLL) {
          if (ebo->flag & BONE_SELECTED) {
            tc->data_len++;
          }
        }
        else {
          if (ebo->flag & BONE_TIPSEL) {
            tc->data_len++;
          }
          if (ebo->flag & BONE_ROOTSEL) {
            tc->data_len++;
          }
        }
      }
 
      if (mirror && (data_len_prev < tc->data_len)) {
        EditBone *eboflip = ED_armature_ebone_get_mirrored(arm->edbo, ebo);
        if (eboflip) {
          total_mirrored++;
        }
      }
    }
    if (!tc->data_len) {
      continue;
    }
 
    if (mirror) {
      BoneInitData *bid = MEM_malloc_arrayN<BoneInitData>((total_mirrored + 1), "BoneInitData");
 
      /* Trick to terminate iteration. */
      bid[total_mirrored].bone = nullptr;
 
      tc->custom.type.data = bid;
      tc->custom.type.use_free = true;
    }
    t->data_len_all += tc->data_len;
  }
 
  transform_around_single_fallback(t);
  t->data_len_all = -1;
 
  FOREACH_TRANS_DATA_CONTAINER (t, tc) {
    if (!tc->data_len) {
      continue;
    }
 
    bArmature *arm = static_cast<bArmature *>(tc->obedit->data);
    ListBase *edbo = arm->edbo;
    TransData *td, *td_old;
    float mtx[3][3], smtx[3][3], bonemat[3][3];
    bool mirror = ((arm->flag & ARM_MIRROR_EDIT) != 0);
    BoneInitData *bid = static_cast<BoneInitData *>(tc->custom.type.data);
 
    copy_m3_m4(mtx, tc->obedit->object_to_world().ptr());
    pseudoinverse_m3_m3(smtx, mtx, PSEUDOINVERSE_EPSILON);
 
    td = tc->data = MEM_calloc_arrayN<TransData>(tc->data_len, "TransEditBone");
    int i = 0;
 
    LISTBASE_FOREACH (EditBone *, ebo, edbo) {
      td_old = td;
 
      /* (length == 0.0) on extrude, used for scaling radius of bone points. */
      ebo->oldlength = ebo->length;
 
      if (blender::animrig::bone_is_visible_editbone(arm, ebo) &&
          !(ebo->flag & BONE_EDITMODE_LOCKED))
      {
        if (t->mode == TFM_BONE_ENVELOPE) {
          if (ebo->flag & BONE_ROOTSEL) {
            td->val = &ebo->rad_head;
            td->ival = *td->val;
 
            copy_v3_v3(td->center, ebo->head);
            td->flag = TD_SELECTED;
 
            copy_m3_m3(td->smtx, smtx);
            copy_m3_m3(td->mtx, mtx);
 
            td->loc = nullptr;
            td->ext = nullptr;
 
            td++;
          }
          if (ebo->flag & BONE_TIPSEL) {
            td->val = &ebo->rad_tail;
            td->ival = *td->val;
            copy_v3_v3(td->center, ebo->tail);
            td->flag = TD_SELECTED;
 
            copy_m3_m3(td->smtx, smtx);
            copy_m3_m3(td->mtx, mtx);
 
            td->loc = nullptr;
            td->ext = nullptr;
 
            td++;
          }
        }
        else if (ELEM(t->mode, TFM_BONESIZE, TFM_BONE_ENVELOPE_DIST)) {
          if (ebo->flag & BONE_SELECTED) {
            if (t->mode == TFM_BONE_ENVELOPE_DIST) {
              td->loc = nullptr;
              td->val = &ebo->dist;
              td->ival = ebo->dist;
            }
            else {
              /* Abusive storage of scale in the loc pointer :). */
              td->loc = &ebo->xwidth;
              copy_v3_v3(td->iloc, td->loc);
              td->val = nullptr;
            }
            copy_v3_v3(td->center, ebo->head);
            td->flag = TD_SELECTED;
 
            /* Use local bone matrix. */
            ED_armature_ebone_to_mat3(ebo, bonemat);
            mul_m3_m3m3(td->mtx, mtx, bonemat);
            invert_m3_m3(td->smtx, td->mtx);
 
            copy_m3_m3(td->axismtx, td->mtx);
            normalize_m3(td->axismtx);
 
            td->ext = nullptr;
 
            td++;
          }
        }
        else if (t->mode == TFM_BONE_ROLL) {
          if (ebo->flag & BONE_SELECTED) {
            td->loc = nullptr;
            td->val = &(ebo->roll);
            td->ival = ebo->roll;
 
            copy_v3_v3(td->center, ebo->head);
            td->flag = TD_SELECTED;
 
            td->ext = nullptr;
 
            td++;
          }
        }
        else {
          if (ebo->flag & BONE_TIPSEL) {
            copy_v3_v3(td->iloc, ebo->tail);
 
            /* Don't allow single selected tips to have a modified center,
             * causes problem with snapping (see #45974).
             * However, in rotation mode, we want to keep that 'rotate bone around root with
             * only its tip selected' behavior (see #46325). */
            if ((t->around == V3D_AROUND_LOCAL_ORIGINS) &&
                ((t->mode == TFM_ROTATION) || (ebo->flag & BONE_ROOTSEL)))
            {
              copy_v3_v3(td->center, ebo->head);
            }
            else {
              copy_v3_v3(td->center, td->iloc);
            }
 
            td->loc = ebo->tail;
            td->flag = TD_SELECTED;
            if (ebo->flag & BONE_EDITMODE_LOCKED) {
              td->protectflag = OB_LOCK_LOC | OB_LOCK_ROT | OB_LOCK_SCALE;
            }
 
            copy_m3_m3(td->smtx, smtx);
            copy_m3_m3(td->mtx, mtx);
 
            ED_armature_ebone_to_mat3(ebo, td->axismtx);
 
            if ((ebo->flag & BONE_ROOTSEL) == 0) {
              td->extra = ebo;
              td->ival = ebo->roll;
            }
 
            td->ext = nullptr;
            td->val = nullptr;
 
            td++;
          }
          if (ebo->flag & BONE_ROOTSEL) {
            copy_v3_v3(td->iloc, ebo->head);
            copy_v3_v3(td->center, td->iloc);
            td->loc = ebo->head;
            td->flag = TD_SELECTED;
            if (ebo->flag & BONE_EDITMODE_LOCKED) {
              td->protectflag = OB_LOCK_LOC | OB_LOCK_ROT | OB_LOCK_SCALE;
            }
 
            copy_m3_m3(td->smtx, smtx);
            copy_m3_m3(td->mtx, mtx);
 
            ED_armature_ebone_to_mat3(ebo, td->axismtx);
 
            td->extra = ebo; /* To fix roll. */
            td->ival = ebo->roll;
 
            td->ext = nullptr;
            td->val = nullptr;
 
            td++;
          }
        }
      }
 
      if (mirror && (td_old != td)) {
        EditBone *eboflip = ED_armature_ebone_get_mirrored(arm->edbo, ebo);
        if (eboflip) {
          bid[i].bone = eboflip;
          bid[i].dist = eboflip->dist;
          bid[i].rad_head = eboflip->rad_head;
          bid[i].rad_tail = eboflip->rad_tail;
          bid[i].roll = eboflip->roll;
          bid[i].xwidth = eboflip->xwidth;
          bid[i].zwidth = eboflip->zwidth;
          copy_v3_v3(bid[i].head, eboflip->head);
          copy_v3_v3(bid[i].tail, eboflip->tail);
          i++;
        }
      }
    }
 
    if (mirror) {
      /* Trick to terminate iteration. */
      BLI_assert(i + 1 == (MEM_allocN_len(bid) / sizeof(*bid)));
      bid[i].bone = nullptr;
    }
  }
}

 
/* -------------------------------------------------------------------- */
 
static void restoreBones(TransDataContainer *tc)
{
  bArmature *arm;
  BoneInitData *bid = static_cast<BoneInitData *>(tc->custom.type.data);
  EditBone *ebo;
 
  if (tc->obedit) {
    arm = static_cast<bArmature *>(tc->obedit->data);
  }
  else {
    BLI_assert(tc->poseobj != nullptr);
    arm = static_cast<bArmature *>(tc->poseobj->data);
  }
 
  while (bid->bone) {
    ebo = bid->bone;
 
    ebo->dist = bid->dist;
    ebo->rad_head = bid->rad_head;
    ebo->rad_tail = bid->rad_tail;
    ebo->roll = bid->roll;
    ebo->xwidth = bid->xwidth;
    ebo->zwidth = bid->zwidth;
    copy_v3_v3(ebo->head, bid->head);
    copy_v3_v3(ebo->tail, bid->tail);
 
    if (arm->flag & ARM_MIRROR_EDIT) {
      /* Also move connected ebo_child, in case ebo_child's name aren't mirrored properly. */
      LISTBASE_FOREACH (EditBone *, ebo_child, arm->edbo) {
        if ((ebo_child->flag & BONE_CONNECTED) && (ebo_child->parent == ebo)) {
          copy_v3_v3(ebo_child->head, ebo->tail);
          ebo_child->rad_head = ebo->rad_tail;
        }
      }
 
      /* Also move connected parent, in case parent's name isn't mirrored properly. */
      if ((ebo->flag & BONE_CONNECTED) && ebo->parent) {
        EditBone *parent = ebo->parent;
        copy_v3_v3(parent->tail, ebo->head);
        parent->rad_tail = ebo->rad_head;
      }
    }
 
    bid++;
  }
}
 
static void recalcData_edit_armature(TransInfo *t)
{
  if (t->state != TRANS_CANCEL) {
    transform_snap_project_individual_apply(t);
  }
 
  FOREACH_TRANS_DATA_CONTAINER (t, tc) {
    bArmature *arm = static_cast<bArmature *>(tc->obedit->data);
    ListBase *edbo = arm->edbo;
    EditBone *ebo, *ebo_parent;
    TransData *td = tc->data;
    int i;
 
    /* Ensure all bones are correctly adjusted. */
    LISTBASE_FOREACH (EditBone *, ebo, edbo) {
      ebo_parent = (ebo->flag & BONE_CONNECTED) ? ebo->parent : nullptr;
 
      if (ebo_parent) {
        /* If this bone has a parent tip that has been moved. */
        if (blender::animrig::bone_is_visible_editbone(arm, ebo_parent) &&
            (ebo_parent->flag & BONE_TIPSEL))
        {
          copy_v3_v3(ebo->head, ebo_parent->tail);
          if (t->mode == TFM_BONE_ENVELOPE) {
            ebo->rad_head = ebo_parent->rad_tail;
          }
        }
        /* If this bone has a parent tip that has NOT been moved. */
        else {
          copy_v3_v3(ebo_parent->tail, ebo->head);
          if (t->mode == TFM_BONE_ENVELOPE) {
            ebo_parent->rad_tail = ebo->rad_head;
          }
        }
      }
 
      /* On extrude bones, oldlength==0.0f, so we scale radius of points. */
      ebo->length = len_v3v3(ebo->head, ebo->tail);
      if (ebo->oldlength == 0.0f) {
        ebo->rad_head = 0.25f * ebo->length;
        ebo->rad_tail = 0.10f * ebo->length;
        ebo->dist = 0.25f * ebo->length;
        if (ebo->parent) {
          ebo->rad_head = std::min(ebo->rad_head, ebo->parent->rad_tail);
        }
      }
      else if (t->mode != TFM_BONE_ENVELOPE) {
        /* If bones change length, lets do that for the deform distance as well. */
        ebo->dist *= ebo->length / ebo->oldlength;
        ebo->rad_head *= ebo->length / ebo->oldlength;
        ebo->rad_tail *= ebo->length / ebo->oldlength;
        ebo->oldlength = ebo->length;
 
        if (ebo_parent) {
          ebo_parent->rad_tail = ebo->rad_head;
        }
      }
    }
 
    if (!ELEM(t->mode, TFM_BONE_ROLL, TFM_BONE_ENVELOPE, TFM_BONE_ENVELOPE_DIST, TFM_BONESIZE)) {
      /* Fix roll. */
      for (i = 0; i < tc->data_len; i++, td++) {
        if (td->extra) {
          float vec[3], up_axis[3];
          float qrot[4];
          float roll;
 
          ebo = static_cast<EditBone *>(td->extra);
 
          if (t->state == TRANS_CANCEL) {
            /* Restore roll. */
            ebo->roll = td->ival;
          }
          else {
            copy_v3_v3(up_axis, td->axismtx[2]);
 
            sub_v3_v3v3(vec, ebo->tail, ebo->head);
            normalize_v3(vec);
            rotation_between_vecs_to_quat(qrot, td->axismtx[1], vec);
            mul_qt_v3(qrot, up_axis);
 
            /* Roll has a tendency to flip in certain orientations - #34283, #33974. */
            roll = ED_armature_ebone_roll_to_vector(ebo, up_axis, false);
            ebo->roll = angle_compat_rad(roll, td->ival);
          }
        }
      }
    }
 
    if (arm->flag & ARM_MIRROR_EDIT) {
      if (t->state != TRANS_CANCEL) {
        ED_armature_edit_transform_mirror_update(tc->obedit);
      }
      else {
        restoreBones(tc);
      }
    }
  }
}

 
/* -------------------------------------------------------------------- */

static void pose_transform_mirror_update(TransInfo *t, TransDataContainer *tc, Object *ob)
{
  float flip_mtx[4][4];
  unit_m4(flip_mtx);
  flip_mtx[0][0] = -1;
 
  LISTBASE_FOREACH (bPoseChannel *, pchan_orig, &ob->pose->chanbase) {
    /* Clear the MIRROR flag from previous runs. */
    pchan_orig->bone->flag &= ~BONE_TRANSFORM_MIRROR;
  }
 
  bPose *pose = ob->pose;
  PoseInitData_Mirror *pid = nullptr;
  if ((t->mode != TFM_BONESIZE) && (pose->flag & POSE_MIRROR_RELATIVE)) {
    pid = static_cast<PoseInitData_Mirror *>(tc->custom.type.data);
  }
 
  TransData *td = tc->data;
  for (int i = tc->data_len; i--; td++) {
    bPoseChannel *pchan_orig = static_cast<bPoseChannel *>(td->extra);
    BLI_assert(pchan_orig->bone->flag & BONE_TRANSFORM);
    /* No layer check, correct mirror is more important. */
    bPoseChannel *pchan = BKE_pose_channel_get_mirrored(pose, pchan_orig->name);
    if (pchan == nullptr) {
      continue;
    }
 
    /* Also do bbone scaling. */
    pchan->bone->xwidth = pchan_orig->bone->xwidth;
    pchan->bone->zwidth = pchan_orig->bone->zwidth;
 
    /* We assume X-axis flipping for now. */
    pchan->curve_in_x = pchan_orig->curve_in_x * -1;
    pchan->curve_out_x = pchan_orig->curve_out_x * -1;
    pchan->roll1 = pchan_orig->roll1 * -1; /* XXX? */
    pchan->roll2 = pchan_orig->roll2 * -1; /* XXX? */
 
    float pchan_mtx_final[4][4];
    BKE_pchan_to_mat4(pchan_orig, pchan_mtx_final);
    mul_m4_m4m4(pchan_mtx_final, pchan_mtx_final, flip_mtx);
    mul_m4_m4m4(pchan_mtx_final, flip_mtx, pchan_mtx_final);
    if (pid) {
      mul_m4_m4m4(pchan_mtx_final, pid->offset_mtx, pchan_mtx_final);
    }
    BKE_pchan_apply_mat4(pchan, pchan_mtx_final, false);
 
    /* Set flag to let auto key-frame know to key-frame the mirrored bone. */
    pchan->bone->flag |= BONE_TRANSFORM_MIRROR;
 
    /* In this case we can do target-less IK grabbing. */
    if (t->mode == TFM_TRANSLATION) {
      bKinematicConstraint *data = has_targetless_ik(pchan);
      if (data == nullptr) {
        continue;
      }
      mul_v3_m4v3(data->grabtarget, flip_mtx, td->loc);
      if (pid) {
        /* TODO(@germano): Relative Mirror support. */
      }
      data->flag |= CONSTRAINT_IK_AUTO;
      /* Add a temporary auto IK constraint here, as we will only temporarily active this
       * target-less bone during transform. (Target-less IK constraints are treated as if they are
       * disabled unless they are transformed).
       * Only do this for targetless IK though, AutoIK already added a constraint in
       * pose_grab_with_ik_add() beforehand. */
      if ((data->flag & CONSTRAINT_IK_TEMP) == 0) {
        add_temporary_ik_constraint(pchan, data);
        Main *bmain = CTX_data_main(t->context);
        update_deg_with_temporary_ik(bmain, ob);
      }
    }
 
    if (pid) {
      pid++;
    }
  }
}
 
static void pose_mirror_info_restore(const PoseInitData_Mirror *pid)
{
  bPoseChannel *pchan = pid->pchan;
  copy_v3_v3(pchan->loc, pid->orig.loc);
  copy_v3_v3(pchan->scale, pid->orig.scale);
  pchan->curve_in_x = pid->orig.curve_in_x;
  pchan->curve_out_x = pid->orig.curve_out_x;
  pchan->roll1 = pid->orig.roll1;
  pchan->roll2 = pid->orig.roll2;
 
  if (pchan->rotmode > 0) {
    copy_v3_v3(pchan->eul, pid->orig.eul);
  }
  else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
    copy_v3_v3(pchan->rotAxis, pid->orig.axis_angle);
    pchan->rotAngle = pid->orig.axis_angle[3];
  }
  else {
    copy_qt_qt(pchan->quat, pid->orig.quat);
  }
}
 
static void restoreMirrorPoseBones(TransDataContainer *tc)
{
  bPose *pose = tc->poseobj->pose;
 
  if (!(pose->flag & POSE_MIRROR_EDIT)) {
    return;
  }
 
  for (PoseInitData_Mirror *pid = static_cast<PoseInitData_Mirror *>(tc->custom.type.data);
       pid->pchan;
       pid++)
  {
    pose_mirror_info_restore(pid);
  }
}
 
/* Given the transform mode `tmode` return a Vector of RNA paths that were possibly modified during
 * that transformation. */
static Vector<RNAPath> get_affected_rna_paths_from_transform_mode(
    const eTfmMode tmode,
    ToolSettings *toolsettings,
    const StringRef rotation_path,
    const bool targetless_ik,
    const bool is_connected,
    const bool transforming_more_than_one_bone)
{
  Vector<RNAPath> rna_paths;
 
  /* Handle the cases where we always need to key location, regardless of
   * transform mode. */
  if (transforming_more_than_one_bone &&
      toolsettings->transform_pivot_point != V3D_AROUND_LOCAL_ORIGINS)
  {
    rna_paths.append({"location"});
  }
  else if (toolsettings->transform_pivot_point == V3D_AROUND_CURSOR) {
    rna_paths.append({"location"});
  }
 
  /* Handle the transform-mode-specific cases. */
  switch (tmode) {
    case TFM_TRANSLATION:
      /* NOTE: this used to *not* add location if we were doing targetless IK.
       * However, that was wrong because of the following situations:
       *
       * 1. The user can grab the *base* of the bone chain, in which case that
       *    bone's location does indeed get its location moved, and thus needs
       *    its location keyed.
       * 2. The user can also have bones outside of a bone chain selected, in
       *    which case they get moved normally, and thus those
       *    outside-of-a-chain bones need their location keyed.
       *
       * So for now we're just adding location regardless of targetless IK. This
       * unfortunately means that location gets keyed on a lot of bones that
       * don't need it when doing targetless ik, but that's better than
       * *failing* to key bones that *do* need it. Additionally, case 2 above
       * means that outside-of-a-chain bones also get their *rotation*
       * unnecessarily keyed when doing targetless IK on another selected chain.
       *
       * Being precise and only adding location/rotation for the bones that
       * really need it when doing targetless IK will require more information
       * to be passed to this function.
       *
       * TODO: get the needed information and make this more precise. */
      if (!is_connected) {
        rna_paths.append_non_duplicates({"location"});
      }
      if (targetless_ik) {
        rna_paths.append({rotation_path});
      }
      break;
 
    case TFM_ROTATION:
    case TFM_TRACKBALL:
      if ((toolsettings->transform_flag & SCE_XFORM_AXIS_ALIGN) == 0) {
        rna_paths.append({rotation_path});
      }
      break;
 
    case TFM_RESIZE:
      if ((toolsettings->transform_flag & SCE_XFORM_AXIS_ALIGN) == 0) {
        rna_paths.append({"scale"});
      }
      break;
 
    default:
      break;
  }
  return rna_paths;
}
 
static void autokeyframe_pose(bContext *C,
                              Scene *scene,
                              Object *ob,
                              short targetless_ik,
                              const eTfmMode tmode,
                              const bool transforming_more_than_one_bone)
{
 
  bPose *pose = ob->pose;
  LISTBASE_FOREACH (bPoseChannel *, pchan, &pose->chanbase) {
    if ((pchan->bone->flag & BONE_TRANSFORM) == 0 &&
        !((pose->flag & POSE_MIRROR_EDIT) && (pchan->bone->flag & BONE_TRANSFORM_MIRROR)))
    {
      continue;
    }
 
    Vector<RNAPath> rna_paths;
    const StringRef rotation_path = animrig::get_rotation_mode_path(
        eRotationModes(pchan->rotmode));
 
    if (animrig::is_keying_flag(scene, AUTOKEY_FLAG_INSERTNEEDED)) {
      const bool is_connected = pchan->bone->parent != nullptr &&
                                (pchan->bone->flag & BONE_CONNECTED);
      rna_paths = get_affected_rna_paths_from_transform_mode(tmode,
                                                             scene->toolsettings,
                                                             rotation_path,
                                                             targetless_ik,
                                                             is_connected,
                                                             transforming_more_than_one_bone);
    }
    else {
      rna_paths = {{"location"}, {rotation_path}, {"scale"}};
    }
 
    animrig::autokeyframe_pose_channel(C, scene, ob, pchan, rna_paths.as_span(), targetless_ik);
  }
}
 
static void recalcData_pose(TransInfo *t)
{
  if (t->mode == TFM_BONESIZE) {
    /* Handle the exception where for TFM_BONESIZE in edit mode we pretend to be
     * in pose mode (to use bone orientation matrix),
     * in that case we have to do mirroring as well. */
    FOREACH_TRANS_DATA_CONTAINER (t, tc) {
      Object *ob = tc->poseobj;
      bArmature *arm = static_cast<bArmature *>(ob->data);
      if (ob->mode == OB_MODE_EDIT) {
        if (arm->flag & ARM_MIRROR_EDIT) {
          if (t->state != TRANS_CANCEL) {
            ED_armature_edit_transform_mirror_update(ob);
          }
          else {
            restoreBones(tc);
          }
        }
      }
      else if (ob->mode == OB_MODE_POSE) {
        /* Actually support #TFM_BONESIZE in pose-mode as well. */
        DEG_id_tag_update(&ob->id, ID_RECALC_GEOMETRY);
        bPose *pose = ob->pose;
        if (arm->flag & ARM_MIRROR_EDIT || pose->flag & POSE_MIRROR_EDIT) {
          pose_transform_mirror_update(t, tc, ob);
        }
      }
    }
  }
  else {
    GSet *motionpath_updates = BLI_gset_ptr_new("motionpath updates");
 
    FOREACH_TRANS_DATA_CONTAINER (t, tc) {
      Object *ob = tc->poseobj;
      bPose *pose = ob->pose;
 
      if (pose->flag & POSE_MIRROR_EDIT) {
        if (t->state != TRANS_CANCEL) {
          pose_transform_mirror_update(t, tc, ob);
        }
        else {
          restoreMirrorPoseBones(tc);
        }
      }
 
      /* If animtimer is running, and the object already has animation data,
       * check if the auto-record feature means that we should record 'samples'
       * (i.e. un-editable animation values).
       *
       * Context is needed for keying set poll() functions.
       */
 
      /* TODO: autokeyframe calls need some setting to specify to add samples
       * (FPoints) instead of keyframes? */
      if ((t->animtimer) && (t->context) && animrig::is_autokey_on(t->scene)) {
 
        /* XXX: this currently doesn't work, since flags aren't set yet! */
        int targetless_ik = (t->flag & T_AUTOIK);
 
        animrecord_check_state(t, &ob->id);
        autokeyframe_pose(t->context, t->scene, ob, targetless_ik, t->mode, t->data_len_all > 1);
      }
 
      if (motionpath_need_update_pose(t->scene, ob)) {
        BLI_gset_insert(motionpath_updates, ob);
      }
 
      DEG_id_tag_update(&ob->id, ID_RECALC_GEOMETRY);
    }
 
    /* Update motion paths once for all transformed bones in an object. */
    GSetIterator gs_iter;
    GSET_ITER (gs_iter, motionpath_updates) {
      Object *ob = static_cast<Object *>(BLI_gsetIterator_getKey(&gs_iter));
      ED_pose_recalculate_paths(t->context, t->scene, ob, POSE_PATH_CALC_RANGE_CURRENT_FRAME);
    }
    BLI_gset_free(motionpath_updates, nullptr);
  }
}

 
/* -------------------------------------------------------------------- */
 
static void bone_children_clear_transflag(int mode, short around, ListBase *lb)
{
  Bone *bone = static_cast<Bone *>(lb->first);
 
  for (; bone; bone = bone->next) {
    if ((bone->flag & BONE_HINGE) && (bone->flag & BONE_CONNECTED)) {
      bone->flag |= BONE_HINGE_CHILD_TRANSFORM;
    }
    else if ((bone->flag & BONE_TRANSFORM) && ELEM(mode, TFM_ROTATION, TFM_TRACKBALL) &&
             (around == V3D_AROUND_LOCAL_ORIGINS))
    {
      bone->flag |= BONE_TRANSFORM_CHILD;
    }
    else {
      bone->flag &= ~BONE_TRANSFORM;
    }
 
    bone_children_clear_transflag(mode, around, &bone->childbase);
  }
}
 
void transform_convert_pose_transflags_update(Object *ob, const int mode, const short around)
{
  bArmature *arm = static_cast<bArmature *>(ob->data);
  Bone *bone;
 
  LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
    bone = pchan->bone;
    if (blender::animrig::bone_is_visible_pchan(arm, pchan)) {
      if (bone->flag & BONE_SELECTED) {
        bone->flag |= BONE_TRANSFORM;
      }
      else {
        bone->flag &= ~BONE_TRANSFORM;
      }
 
      bone->flag &= ~BONE_HINGE_CHILD_TRANSFORM;
      bone->flag &= ~BONE_TRANSFORM_CHILD;
    }
    else {
      bone->flag &= ~BONE_TRANSFORM;
    }
  }
 
  /* Make sure no bone can be transformed when a parent is transformed. */
  /* Since pchans are depsgraph sorted, the parents are in beginning of list. */
  if (!ELEM(mode, TFM_BONESIZE, TFM_BONE_ENVELOPE_DIST)) {
    LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
      bone = pchan->bone;
      if (bone->flag & BONE_TRANSFORM) {
        bone_children_clear_transflag(mode, around, &bone->childbase);
      }
    }
  }
}
 
static short apply_targetless_ik(Object *ob)
{
  bPoseChannel *chanlist[256];
  bKinematicConstraint *data;
  int segcount, apply = 0;
 
  /* Now we got a difficult situation... we have to find the
   * target-less IK pchans, and apply transformation to the all
   * pchans that were in the chain. */
 
  LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
    data = has_targetless_ik(pchan);
    if (data && (data->flag & CONSTRAINT_IK_AUTO)) {
 
      /* Fill the array with the bones of the chain (`armature.cc` does same, keep it synced). */
      segcount = 0;
 
      /* Exclude tip from chain? */
      bPoseChannel *parchan = (data->flag & CONSTRAINT_IK_TIP) ? pchan : pchan->parent;
 
      /* Find the chain's root & count the segments needed. */
      for (; parchan; parchan = parchan->parent) {
        chanlist[segcount] = parchan;
        segcount++;
 
        if (segcount == data->rootbone || segcount > 255) {
          break; /* 255 is weak. */
        }
      }
      for (; segcount; segcount--) {
        Bone *bone;
        float mat[4][4];
 
        /* `pose_mat(b) = pose_mat(b-1) * offs_bone * channel * constraint * IK`. */
        /* We put in channel the entire result of: `mat = (channel * constraint * IK)`. */
        /* `pose_mat(b) = pose_mat(b-1) * offs_bone * mat`. */
        /* `mat = pose_mat(b) * inv(pose_mat(b-1) * offs_bone)`. */
 
        parchan = chanlist[segcount - 1];
        bone = parchan->bone;
        bone->flag |= BONE_TRANSFORM; /* Ensures it gets an auto key inserted. */
 
        BKE_armature_mat_pose_to_bone(parchan, parchan->pose_mat, mat);
        /* Apply and decompose, doesn't work for constraints or non-uniform scale well. */
        {
          float rmat3[3][3], qrmat[3][3], imat3[3][3], smat[3][3];
 
          copy_m3_m4(rmat3, mat);
          /* Make sure that our rotation matrix only contains rotation and not scale. */
          normalize_m3(rmat3);
 
          /* Rotation. */
          /* #22409 is partially caused by this, as slight numeric error introduced during
           * the solving process leads to locked-axis values changing. However, we cannot modify
           * the values here, or else there are huge discrepancies between IK-solver (interactive)
           * and applied poses. */
          BKE_pchan_mat3_to_rot(parchan, rmat3, false);
 
          /* For size, remove rotation. */
          /* Causes problems with some constraints (so apply only if needed). */
          if (data->flag & CONSTRAINT_IK_STRETCH) {
            BKE_pchan_rot_to_mat3(parchan, qrmat);
            invert_m3_m3(imat3, qrmat);
            mul_m3_m3m3(smat, rmat3, imat3);
            mat3_to_size(parchan->scale, smat);
          }
 
          /* Causes problems with some constraints (e.g. child-of), so disable this
           * as it is IK shouldn't affect location directly. */
          // copy_v3_v3(parchan->loc, mat[3]);
        }
      }
 
      apply = 1;
      data->flag &= ~CONSTRAINT_IK_AUTO;
    }
  }
 
  return apply;
}

static void pose_grab_with_ik_clear(Main *bmain, Object *ob)
{
  bKinematicConstraint *data;
  bConstraint *con, *next;
  bool relations_changed = false;
 
  LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
    /* Clear all temporary lock flags. */
    pchan->ikflag &= ~(BONE_IK_NO_XDOF_TEMP | BONE_IK_NO_YDOF_TEMP | BONE_IK_NO_ZDOF_TEMP);
 
    pchan->constflag &= ~(PCHAN_HAS_IK | PCHAN_HAS_NO_TARGET);
 
    /* Remove all temporary IK-constraints added. */
    for (con = static_cast<bConstraint *>(pchan->constraints.first); con; con = next) {
      next = con->next;
      if (con->type == CONSTRAINT_TYPE_KINEMATIC) {
        data = static_cast<bKinematicConstraint *>(con->data);
        if (data->flag & CONSTRAINT_IK_TEMP) {
          relations_changed = true;
 
          /* `iTaSC` needs clear for removed constraints. */
          BIK_clear_data(ob->pose);
 
          BLI_remlink(&pchan->constraints, con);
          MEM_freeN(con->data);
          MEM_freeN(con);
          continue;
        }
        pchan->constflag |= PCHAN_HAS_IK;
        if (data->tar == nullptr || (data->tar->type == OB_ARMATURE && data->subtarget[0] == 0)) {
          pchan->constflag |= PCHAN_HAS_NO_TARGET;
        }
      }
    }
  }
 
  if (relations_changed) {
    /* TODO(sergey): Consider doing partial update only. */
    DEG_relations_tag_update(bmain);
  }
}
 
static void special_aftertrans_update__pose(bContext *C, TransInfo *t)
{
  Object *ob;
 
  if (t->mode == TFM_BONESIZE) {
    /* Handle the exception where for TFM_BONESIZE in edit mode we pretend to be
     * in pose mode (to use bone orientation matrix),
     * in that case we don't do operations like auto-keyframing. */
    FOREACH_TRANS_DATA_CONTAINER (t, tc) {
      ob = tc->poseobj;
      DEG_id_tag_update(&ob->id, ID_RECALC_GEOMETRY);
    }
  }
  else {
    const bool canceled = (t->state == TRANS_CANCEL);
 
    if (animrig::is_autokey_on(t->scene) && !canceled) {
      ANIM_deselect_keys_in_animation_editors(C);
    }
 
    GSet *motionpath_updates = BLI_gset_ptr_new("motionpath updates");
 
    FOREACH_TRANS_DATA_CONTAINER (t, tc) {
      short targetless_ik = 0;
 
      ob = tc->poseobj;
 
      if ((t->flag & T_AUTOIK) && (t->options & CTX_AUTOCONFIRM)) {
        /* When running transform non-interactively (operator exec),
         * we need to update the pose otherwise no updates get called during
         * transform and the auto-IK is not applied. see #26164. */
        Object *pose_ob = tc->poseobj;
        BKE_pose_where_is(t->depsgraph, t->scene, pose_ob);
      }
 
      /* Set BONE_TRANSFORM flags for auto-key, gizmo draw might have changed them. */
      if (!canceled && (t->mode != TFM_DUMMY)) {
        transform_convert_pose_transflags_update(ob, t->mode, t->around);
      }
 
      /* If target-less IK grabbing, we calculate the pchan transforms and clear flag. */
      if (!canceled && t->mode == TFM_TRANSLATION) {
        targetless_ik = apply_targetless_ik(ob);
      }
      else {
        /* Not forget to clear the auto flag. */
        LISTBASE_FOREACH (bPoseChannel *, pchan, &ob->pose->chanbase) {
          bKinematicConstraint *data = has_targetless_ik(pchan);
          if (data) {
            data->flag &= ~CONSTRAINT_IK_AUTO;
          }
        }
      }
 
      if (t->mode == TFM_TRANSLATION) {
        Main *bmain = CTX_data_main(t->context);
        pose_grab_with_ik_clear(bmain, ob);
      }
 
      /* Automatic inserting of keys and unkeyed tagging -
       * only if transform wasn't canceled (or #TFM_DUMMY). */
      if (!canceled && (t->mode != TFM_DUMMY)) {
        autokeyframe_pose(C, t->scene, ob, targetless_ik, t->mode, t->data_len_all > 1);
        DEG_id_tag_update(&ob->id, ID_RECALC_GEOMETRY);
      }
      else {
        DEG_id_tag_update(&ob->id, ID_RECALC_GEOMETRY);
      }
 
      if (t->mode != TFM_DUMMY && motionpath_need_update_pose(t->scene, ob)) {
        BLI_gset_insert(motionpath_updates, ob);
      }
    }
 
    /* Update motion paths once for all transformed bones in an object. */
    GSetIterator gs_iter;
    GSET_ITER (gs_iter, motionpath_updates) {
      const ePosePathCalcRange range = canceled ? POSE_PATH_CALC_RANGE_CURRENT_FRAME :
                                                  POSE_PATH_CALC_RANGE_CHANGED;
      ob = static_cast<Object *>(BLI_gsetIterator_getKey(&gs_iter));
      ED_pose_recalculate_paths(C, t->scene, ob, range);
    }
    BLI_gset_free(motionpath_updates, nullptr);
  }
}

 
TransConvertTypeInfo TransConvertType_EditArmature = {
    /*flags*/ (T_EDIT | T_POINTS),
    /*create_trans_data*/ createTransArmatureVerts,
    /*recalc_data*/ recalcData_edit_armature,
    /*special_aftertrans_update*/ nullptr,
};
 
TransConvertTypeInfo TransConvertType_Pose = {
    /*flags*/ 0,
    /*create_trans_data*/ createTransPose,
    /*recalc_data*/ recalcData_pose,
    /*special_aftertrans_update*/ special_aftertrans_update__pose,
};
 
}  // namespace blender::ed::transform