blender-archive/source/blender/blenkernel/intern/action.c

/**
 * $Id$
 *
 * ***** 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * Contributor(s): Full recode, Ton Roosendaal, Crete 2005
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include <string.h>
#include <math.h>
#include <stdlib.h>	/* for NULL */

#include "MEM_guardedalloc.h"

#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_constraint_types.h"
#include "DNA_curve_types.h"
#include "DNA_ipo_types.h"
#include "DNA_key_types.h"
#include "DNA_nla_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"

#include "BKE_action.h"
#include "BKE_anim.h"
#include "BKE_armature.h"
#include "BKE_blender.h"
#include "BKE_constraint.h"
#include "BKE_displist.h"
#include "BKE_global.h"
#include "BKE_ipo.h"
#include "BKE_key.h"
#include "BKE_lattice.h"
#include "BKE_library.h"
#include "BKE_main.h"
#include "BKE_object.h"
#include "BKE_utildefines.h"

#include "BLI_arithb.h"
#include "BLI_blenlib.h"

#include "nla.h"

/* *********************** NOTE ON POSE AND ACTION **********************

  - Pose is the local (object level) component of armature. The current
    object pose is saved in files, and (will be) is presorted for dependency
  - Actions have fewer (or other) channels, and write data to a Pose
  - Currently ob->pose data is controlled in where_is_pose only. The (recalc)
    event system takes care of calling that
  - The NLA system (here too) uses Poses as interpolation format for Actions
  - Therefore we assume poses to be static, and duplicates of poses have channels in
    same order, for quick interpolation reasons

  ****************************** (ton) ************************************ */

/* ***************** Library data level operations on action ************** */

static void make_local_action_channels(bAction *act)
{
	bActionChannel *chan;
	bConstraintChannel *conchan;
	
	for (chan=act->chanbase.first; chan; chan=chan->next) {
		if(chan->ipo) {
			if(chan->ipo->id.us==1) {
				chan->ipo->id.lib= NULL;
				chan->ipo->id.flag= LIB_LOCAL;
				new_id(0, (ID *)chan->ipo, 0);
			}
			else {
				chan->ipo= copy_ipo(chan->ipo);
			}
		}
		for (conchan=chan->constraintChannels.first; conchan; conchan=conchan->next) {
			if(conchan->ipo) {
				if(conchan->ipo->id.us==1) {
					conchan->ipo->id.lib= NULL;
					conchan->ipo->id.flag= LIB_LOCAL;
					new_id(0, (ID *)conchan->ipo, 0);
				}
				else {
					conchan->ipo= copy_ipo(conchan->ipo);
				}
			}
		}
	}
}

void make_local_action(bAction *act)
{
	Object *ob;
	bAction *actn;
	int local=0, lib=0;
	
	if(act->id.lib==0) return;
	if(act->id.us==1) {
		act->id.lib= 0;
		act->id.flag= LIB_LOCAL;
		make_local_action_channels(act);
		new_id(0, (ID *)act, 0);
		return;
	}
	
	ob= G.main->object.first;
	while(ob) {
		if(ob->action==act) {
			if(ob->id.lib) lib= 1;
			else local= 1;
		}
		ob= ob->id.next;
	}
	
	if(local && lib==0) {
		act->id.lib= 0;
		act->id.flag= LIB_LOCAL;
		make_local_action_channels(act);
		new_id(0, (ID *)act, 0);
	}
	else if(local && lib) {
		actn= copy_action(act);
		actn->id.us= 0;
		
		ob= G.main->object.first;
		while(ob) {
			if(ob->action==act) {
				
				if(ob->id.lib==0) {
					ob->action = actn;
					actn->id.us++;
					act->id.us--;
				}
			}
			ob= ob->id.next;
		}
	}
}


void free_action (bAction *act)
{
	bActionChannel *chan;
	
	/* Free channels */
	for (chan=act->chanbase.first; chan; chan=chan->next) {
		if (chan->ipo)
			chan->ipo->id.us--;
		free_constraint_channels(&chan->constraintChannels);
	}
	
	if (act->chanbase.first)
		BLI_freelistN(&act->chanbase);
		
	/* Free groups */
	if (act->groups.first)
		BLI_freelistN(&act->groups);
		
	/* Free pose-references (aka local markers) */
	if (act->markers.first)
		BLI_freelistN(&act->markers);
}

bAction *copy_action (bAction *src)
{
	bAction *dst = NULL;
	bActionChannel *dchan, *schan;
	bActionGroup *dgrp, *sgrp;
	
	if (!src) return NULL;
	
	dst= copy_libblock(src);
	
	duplicatelist(&(dst->chanbase), &(src->chanbase));
	duplicatelist(&(dst->groups), &(src->groups));
	duplicatelist(&(dst->markers), &(src->markers));
	
	for (dchan=dst->chanbase.first, schan=src->chanbase.first; dchan; dchan=dchan->next, schan=schan->next) {
		for (dgrp=dst->groups.first, sgrp=src->groups.first; dgrp && sgrp; dgrp=dgrp->next, sgrp=sgrp->next) {
			if (dchan->grp == sgrp) {
				dchan->grp= dgrp;
				
				if (dgrp->channels.first == schan)
					dgrp->channels.first= dchan;
				if (dgrp->channels.last == schan)
					dgrp->channels.last= dchan;
					
				break;
			}
		}
		
		dchan->ipo = copy_ipo(dchan->ipo);
		copy_constraint_channels(&dchan->constraintChannels, &schan->constraintChannels);
	}
	
	dst->id.flag |= LIB_FAKEUSER;
	dst->id.us++;
	
	return dst;
}



/* ************************ Pose channels *************** */

/* usually used within a loop, so we got a N^2 slowdown */
bPoseChannel *get_pose_channel(const bPose *pose, const char *name)
{
	bPoseChannel *chan;

	if(pose==NULL) return NULL;
	
	for (chan=pose->chanbase.first; chan; chan=chan->next) {
		if(chan->name[0] == name[0])
			if (!strcmp (chan->name, name))
				return chan;
	}

	return NULL;
}

/* Use with care, not on Armature poses but for temporal ones */
/* (currently used for action constraints and in rebuild_pose) */
bPoseChannel *verify_pose_channel(bPose* pose, const char* name)
{
	bPoseChannel *chan;
	
	if (!pose) {
		return NULL;
	}
	
	/*      See if this channel exists */
	for (chan=pose->chanbase.first; chan; chan=chan->next) {
		if (!strcmp (name, chan->name))
			return chan;
	}
	
	/* If not, create it and add it */
	chan = MEM_callocN(sizeof(bPoseChannel), "verifyPoseChannel");
	
	strncpy (chan->name, name, 31);
	/* init vars to prevent math errors */
	chan->quat[0] = 1.0F;
	chan->size[0] = chan->size[1] = chan->size[2] = 1.0F;
	
	chan->limitmin[0]= chan->limitmin[1]= chan->limitmin[2]= -180.0f;
	chan->limitmax[0]= chan->limitmax[1]= chan->limitmax[2]= 180.0f;
	chan->stiffness[0]= chan->stiffness[1]= chan->stiffness[2]= 0.0f;
	
	Mat4One(chan->constinv);
	
	BLI_addtail (&pose->chanbase, chan);
	
	return chan;
}


/* dst should be freed already, makes entire duplicate */
void copy_pose(bPose **dst, bPose *src, int copycon)
{
	bPose *outPose;
	bPoseChannel	*pchan;
	ListBase listb;
	
	if (!src){
		*dst=NULL;
		return;
	}
	
	if (*dst==src) {
		printf("copy_pose source and target are the same\n");
		*dst=NULL;
		return;
	}
	
	outPose= MEM_callocN(sizeof(bPose), "pose");
	
	duplicatelist(&outPose->chanbase, &src->chanbase);
	
	if (copycon) {
		for (pchan=outPose->chanbase.first; pchan; pchan=pchan->next) {
			copy_constraints(&listb, &pchan->constraints);  // copy_constraints NULLs listb
			pchan->constraints= listb;
			pchan->path= NULL;
		}
	}
	
	*dst=outPose;
}

void free_pose_channels(bPose *pose) 
{
	bPoseChannel *pchan;
	
	if (pose->chanbase.first) {
		for (pchan = pose->chanbase.first; pchan; pchan=pchan->next){
			if (pchan->path)
				MEM_freeN(pchan->path);
			free_constraints(&pchan->constraints);
		}
		BLI_freelistN(&pose->chanbase);
	}
}

void free_pose(bPose *pose)
{
	if (pose) {
		/* free pose-channels */
		free_pose_channels(pose);
		
		/* free pose-groups */
		if (pose->agroups.first)
			BLI_freelistN(&pose->agroups);
		
		/* free pose */
		MEM_freeN(pose);
	}
}

static void copy_pose_channel_data(bPoseChannel *pchan, const bPoseChannel *chan)
{
	bConstraint *pcon, *con;
	
	VECCOPY(pchan->loc, chan->loc);
	VECCOPY(pchan->size, chan->size);
	QUATCOPY(pchan->quat, chan->quat);
	pchan->flag= chan->flag;
	
	con= chan->constraints.first;
	for(pcon= pchan->constraints.first; pcon; pcon= pcon->next) {
		pcon->enforce= con->enforce;
		pcon->headtail= con->headtail;
	}
}

/* checks for IK constraint, and also for Follow-Path constraint.
 * can do more constraints flags later 
 */
/* pose should be entirely OK */
void update_pose_constraint_flags(bPose *pose)
{
	bPoseChannel *pchan, *parchan;
	bConstraint *con;
	
	/* clear */
	for (pchan= pose->chanbase.first; pchan; pchan= pchan->next) {
		pchan->constflag= 0;
	}
	pose->flag &= ~POSE_CONSTRAINTS_TIMEDEPEND;
	
	/* detect */
	for (pchan= pose->chanbase.first; pchan; pchan=pchan->next) {
		for (con= pchan->constraints.first; con; con= con->next) {
			if (con->type==CONSTRAINT_TYPE_KINEMATIC) {
				bKinematicConstraint *data = (bKinematicConstraint*)con->data;
				
				pchan->constflag |= PCHAN_HAS_IK;
				
				if(data->tar==NULL || (data->tar->type==OB_ARMATURE && data->subtarget[0]==0))
					pchan->constflag |= PCHAN_HAS_TARGET;
				
				/* negative rootbone = recalc rootbone index. used in do_versions */
				if(data->rootbone<0) {
					data->rootbone= 0;
					
					if(data->flag & CONSTRAINT_IK_TIP) parchan= pchan;
					else parchan= pchan->parent;
					
					while(parchan) {
						data->rootbone++;
						if((parchan->bone->flag & BONE_CONNECTED)==0)
							break;
						parchan= parchan->parent;
					}
				}
			}
			else if (con->type == CONSTRAINT_TYPE_FOLLOWPATH) {
				bFollowPathConstraint *data= (bFollowPathConstraint *)con->data;
				
				/* for drawing constraint colors when color set allows this */
				pchan->constflag |= PCHAN_HAS_CONST;
				
				/* if we have a valid target, make sure that this will get updated on frame-change
				 * (needed for when there is no anim-data for this pose)
				 */
				if ((data->tar) && (data->tar->type==OB_CURVE))
					pose->flag |= POSE_CONSTRAINTS_TIMEDEPEND;
			}
			else 
				pchan->constflag |= PCHAN_HAS_CONST;
		}
	}
}

/* Clears all BONE_UNKEYED flags for every pose channel in every pose 
 * This should only be called on frame changing, when it is acceptable to
 * do this. Otherwise, these flags should not get cleared as poses may get lost.
 */
void framechange_poses_clear_unkeyed(void)
{
	Object *ob;
	bPose *pose;
	bPoseChannel *pchan;
	
	/* This needs to be done for each object that has a pose */
	// TODO: proxies may/may not be correctly handled here... (this needs checking) 
	for (ob= G.main->object.first; ob; ob= ob->id.next) {
		/* we only need to do this on objects with a pose */
		if ( (pose= ob->pose) ) {
			for (pchan= pose->chanbase.first; pchan; pchan= pchan->next) {
				if (pchan->bone) 
					pchan->bone->flag &= ~BONE_UNKEYED;
			}
		}
	}
}

/* ************************ END Pose channels *************** */

/* ************************ Action channels *************** */


bActionChannel *get_action_channel(bAction *act, const char *name)
{
	bActionChannel *chan;
	
	if (!act || !name)
		return NULL;
	
	for (chan = act->chanbase.first; chan; chan=chan->next) {
		if (!strcmp (chan->name, name))
			return chan;
	}
	
	return NULL;
}

/* returns existing channel, or adds new one. In latter case it doesnt activate it, context is required for that */
bActionChannel *verify_action_channel(bAction *act, const char *name)
{
	bActionChannel *chan;
	
	chan= get_action_channel(act, name);
	if (chan == NULL) {
		chan = MEM_callocN (sizeof(bActionChannel), "actionChannel");
		strncpy(chan->name, name, 31);
		BLI_addtail(&act->chanbase, chan);
	}
	return chan;
}

/* ************** time ****************** */

static bActionStrip *get_active_strip(Object *ob)
{
	bActionStrip *strip;
	
	if(ob->action==NULL)
		return NULL;
	
	for (strip=ob->nlastrips.first; strip; strip=strip->next)
		if(strip->flag & ACTSTRIP_ACTIVE)
			break;
	
	if(strip && strip->act==ob->action)
		return strip;
	return NULL;
}

/* non clipped mapping of strip */
static float get_actionstrip_frame(bActionStrip *strip, float cframe, int invert)
{
	float length, actlength, repeat, scale;
	
	if (strip->repeat == 0.0f) strip->repeat = 1.0f;
	repeat = (strip->flag & ACTSTRIP_USESTRIDE) ? (1.0f) : (strip->repeat);
	
	if (strip->scale == 0.0f) strip->scale= 1.0f;
	scale = fabs(strip->scale); /* scale must be positive (for now) */
	
	actlength = strip->actend-strip->actstart;
	if (actlength == 0.0f) actlength = 1.0f;
	length = repeat * scale * actlength;
	
	/* invert = convert action-strip time to global time */
	if (invert)
		return length*(cframe - strip->actstart)/(repeat*actlength) + strip->start;
	else
		return repeat*actlength*(cframe - strip->start)/length + strip->actstart;
}

/* if the conditions match, it converts current time to strip time */
float get_action_frame(Object *ob, float cframe)
{
	bActionStrip *strip= get_active_strip(ob);
	
	if(strip)
		return get_actionstrip_frame(strip, cframe, 0);
	return cframe;
}

/* inverted, strip time to current time */
float get_action_frame_inv(Object *ob, float cframe)
{
	bActionStrip *strip= get_active_strip(ob);
	
	if(strip)
		return get_actionstrip_frame(strip, cframe, 1);
	return cframe;
}


/* ************************ Blending with NLA *************** */

static void blend_pose_strides(bPose *dst, bPose *src, float srcweight, short mode)
{
	float dstweight;
	
	switch (mode){
		case ACTSTRIPMODE_BLEND:
			dstweight = 1.0F - srcweight;
			break;
		case ACTSTRIPMODE_ADD:
			dstweight = 1.0F;
			break;
		default :
			dstweight = 1.0F;
	}
	
	VecLerpf(dst->stride_offset, dst->stride_offset, src->stride_offset, srcweight);
}


/* 

bone matching diagram, strips A and B

                 .------------------------.
                 |         A              |
                 '------------------------'
				 .          .             b2
                 .          .-------------v----------.
                 .      	|         B   .          |
                 .          '------------------------'
                 .          .             .
                 .          .             .
offset:          .    0     .    A-B      .  A-b2+B     
                 .          .             .

*/


static void blend_pose_offset_bone(bActionStrip *strip, bPose *dst, bPose *src, float srcweight, short mode)
{
	/* matching offset bones */
	/* take dst offset, and put src on on that location */
	
	if(strip->offs_bone[0]==0)
		return;
	
	/* are we also blending with matching bones? */
	if(strip->prev && strip->start>=strip->prev->start) {
		bPoseChannel *dpchan= get_pose_channel(dst, strip->offs_bone);
		if(dpchan) {
			bPoseChannel *spchan= get_pose_channel(src, strip->offs_bone);
			if(spchan) {
				float vec[3];
				
				/* dst->ctime has the internal strip->prev action time */
				/* map this time to nla time */
				
				float ctime= get_actionstrip_frame(strip, src->ctime, 1);
				
				if( ctime > strip->prev->end) {
					bActionChannel *achan;
					
					/* add src to dest, minus the position of src on strip->prev->end */
					
					ctime= get_actionstrip_frame(strip, strip->prev->end, 0);
					
					achan= get_action_channel(strip->act, strip->offs_bone);
					if(achan && achan->ipo) {
						bPoseChannel pchan;
						/* Evaluates and sets the internal ipo value */
						calc_ipo(achan->ipo, ctime);
						/* This call also sets the pchan flags */
						execute_action_ipo(achan, &pchan);
						
						/* store offset that moves src to location of pchan */
						VecSubf(vec, dpchan->loc, pchan.loc);
						
						Mat4Mul3Vecfl(dpchan->bone->arm_mat, vec);
					}
				}
				else {
					/* store offset that moves src to location of dst */
					
					VecSubf(vec, dpchan->loc, spchan->loc);
					Mat4Mul3Vecfl(dpchan->bone->arm_mat, vec);
				}
				
				/* if blending, we only add with factor scrweight */
				VecMulf(vec, srcweight);
				
				VecAddf(dst->cyclic_offset, dst->cyclic_offset, vec);
			}
		}
	}
	
	VecAddf(dst->cyclic_offset, dst->cyclic_offset, src->cyclic_offset);
}


/* Only allowed for Poses with identical channels */
void blend_poses(bPose *dst, bPose *src, float srcweight, short mode)
{
	bPoseChannel *dchan;
	const bPoseChannel *schan;
	bConstraint *dcon, *scon;
	float	dquat[4], squat[4];
	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= src->chanbase.first;
	for (dchan = dst->chanbase.first; dchan; dchan=dchan->next, schan= schan->next){
		if (schan->flag & (POSE_ROT|POSE_LOC|POSE_SIZE)) {
			/* replaced quat->matrix->quat conversion with decent quaternion interpol (ton) */
			
			/* Do the transformation blend */
			if (schan->flag & POSE_ROT) {
				QUATCOPY(dquat, dchan->quat);
				QUATCOPY(squat, schan->quat);
				if(mode==ACTSTRIPMODE_BLEND)
					QuatInterpol(dchan->quat, dquat, squat, srcweight);
				else {
					QuatMulFac(squat, srcweight);
					QuatMul(dchan->quat, dquat, squat);
				}
				
				NormalQuat (dchan->quat);
			}

			for (i=0; i<3; i++){
				if (schan->flag & POSE_LOC)
					dchan->loc[i] = (dchan->loc[i]*dstweight) + (schan->loc[i]*srcweight);
				if (schan->flag & POSE_SIZE)
					dchan->size[i] = 1.0f + ((dchan->size[i]-1.0f)*dstweight) + ((schan->size[i]-1.0f)*srcweight);
			}
			dchan->flag |= schan->flag;
		}
		for(dcon= dchan->constraints.first, scon= schan->constraints.first; dcon && scon; dcon= dcon->next, scon= 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 calc_action_range(const bAction *act, float *start, float *end, int incl_hidden)
{
	const bActionChannel *chan;
	const bConstraintChannel *conchan;
	const IpoCurve	*icu;
	float min=999999999.0f, max=-999999999.0;
	int	foundvert=0;

	if(act) {
		for (chan=act->chanbase.first; chan; chan=chan->next) {
			if(incl_hidden || (chan->flag & ACHAN_HIDDEN)==0) {
				if(chan->ipo) {
					for (icu=chan->ipo->curve.first; icu; icu=icu->next) {
						if(icu->totvert) {
							min= MIN2 (min, icu->bezt[0].vec[1][0]);
							max= MAX2 (max, icu->bezt[icu->totvert-1].vec[1][0]);
							foundvert=1;
						}
					}
				}
				for (conchan=chan->constraintChannels.first; conchan; conchan=conchan->next) {
					if(conchan->ipo) {
						for (icu=conchan->ipo->curve.first; icu; icu=icu->next) {
							if(icu->totvert) {
								min= MIN2 (min, icu->bezt[0].vec[1][0]);
								max= MAX2 (max, icu->bezt[icu->totvert-1].vec[1][0]);
								foundvert=1;
							}
						}
					}
				}
			}
		}
	}	
	if (foundvert) {
		if(min==max) max+= 1.0f;
		*start= min;
		*end= max;
	}
	else {
		*start= 0.0f;
		*end= 1.0f;
	}
}

/* Copy the data from the action-pose (src) into the pose */
/* both args are assumed to be valid */
/* exported to game engine */
void extract_pose_from_pose(bPose *pose, const bPose *src)
{
	const bPoseChannel *schan;
	bPoseChannel *pchan= pose->chanbase.first;

	if (pose==src) {
		printf("extract_pose_from_pose source and target are the same\n");
		return;
	}

	for (schan=src->chanbase.first; schan; schan=schan->next, pchan= pchan->next) {
		copy_pose_channel_data(pchan, schan);
	}
}

/* Pose should exist, can have any number of channels too (used for constraint) */
void extract_pose_from_action(bPose *pose, bAction *act, float ctime) 
{
	bActionChannel *achan;
	bPoseChannel	*pchan;
	Ipo				*ipo;

	if (!act)
		return;
	if (!pose)
		return;
	
	/* Copy the data from the action into the pose */
	for (pchan= pose->chanbase.first; pchan; pchan=pchan->next) {
		/* skip this pose channel if it has been tagged as having unkeyed poses */
		if ((pchan->bone) && (pchan->bone->flag & BONE_UNKEYED)) 
			continue;
		
		/* get action channel and clear pchan-transform flags */
		achan= get_action_channel(act, pchan->name);
		pchan->flag &= ~(POSE_LOC|POSE_ROT|POSE_SIZE);
		
		if (achan) {
			ipo = achan->ipo;
			if (ipo) {
				/* Evaluates and sets the internal ipo value */
				calc_ipo(ipo, ctime);
				/* This call also sets the pchan flags */
				execute_action_ipo(achan, pchan);
			}
			/* 0 = do all ipos, not only drivers */
			do_constraint_channels(&pchan->constraints, &achan->constraintChannels, ctime, 0);
		}
	}
	
	pose->ctime= ctime;	/* used for cyclic offset matching */
}

/* for do_all_pose_actions, clears the pose. Now also exported for proxy and tools */
void rest_pose(bPose *pose)
{
	bPoseChannel *pchan;
	int i;
	
	if (!pose)
		return;
	
	memset(pose->stride_offset, 0, sizeof(pose->stride_offset));
	memset(pose->cyclic_offset, 0, sizeof(pose->cyclic_offset));
	
	for (pchan=pose->chanbase.first; pchan; pchan= pchan->next){
		for (i=0; i<3; i++) {
			pchan->loc[i]= 0.0f;
			pchan->quat[i+1]= 0.0f;
			pchan->size[i]= 1.0f;
		}
		pchan->quat[0]= 1.0f;
		
		pchan->flag &= ~(POSE_LOC|POSE_ROT|POSE_SIZE);
	}
}

/* both poses should be in sync */
void copy_pose_result(bPose *to, bPose *from)
{
	bPoseChannel *pchanto, *pchanfrom;
	
	if(to==NULL || from==NULL) {
		printf("pose result copy error\n"); // debug temp
		return;
	}

	if (to==from) {
		printf("copy_pose_result source and target are the same\n");
		return;
	}


	for(pchanfrom= from->chanbase.first; pchanfrom; pchanfrom= pchanfrom->next) {
		pchanto= get_pose_channel(to, pchanfrom->name);
		if(pchanto) {
			Mat4CpyMat4(pchanto->pose_mat, pchanfrom->pose_mat);
			Mat4CpyMat4(pchanto->chan_mat, pchanfrom->chan_mat);
			/* used for local constraints */
			VECCOPY(pchanto->loc, pchanfrom->loc);
			QUATCOPY(pchanto->quat, pchanfrom->quat);
			VECCOPY(pchanto->size, pchanfrom->size);
			
			VECCOPY(pchanto->pose_head, pchanfrom->pose_head);
			VECCOPY(pchanto->pose_tail, pchanfrom->pose_tail);
			pchanto->flag= pchanfrom->flag;
		}
	}
}

/* ********** NLA with non-poses works with ipo channels ********** */

typedef struct NlaIpoChannel {
	struct NlaIpoChannel *next, *prev;
	float val;
	void *poin;
	int type;
} NlaIpoChannel;

void extract_ipochannels_from_action(ListBase *lb, ID *id, bAction *act, char *name, float ctime)
{
	bActionChannel *achan= get_action_channel(act, name);
	IpoCurve *icu;
	NlaIpoChannel *nic;
	
	if(achan==NULL) return;
	
	if(achan->ipo) {
		calc_ipo(achan->ipo, ctime);
		
		for(icu= achan->ipo->curve.first; icu; icu= icu->next) {
			/* skip IPO_BITS, is for layers and cannot be blended */
			if(icu->vartype != IPO_BITS) {
				nic= MEM_callocN(sizeof(NlaIpoChannel), "NlaIpoChannel");
				BLI_addtail(lb, nic);
				nic->val= icu->curval;
				nic->poin= get_ipo_poin(id, icu, &nic->type);
			}
		}
	}
	
	/* constraint channels only for objects */
	if(GS(id->name)==ID_OB) {
		Object *ob= (Object *)id;
		bConstraint *con;
		bConstraintChannel *conchan;
		
		for (con=ob->constraints.first; con; con=con->next) {
			conchan = get_constraint_channel(&achan->constraintChannels, con->name);
			
			if(conchan && conchan->ipo) {
				calc_ipo(conchan->ipo, ctime);
				
				icu= conchan->ipo->curve.first;	// only one ipo now
				if(icu) {
					nic= MEM_callocN(sizeof(NlaIpoChannel), "NlaIpoChannel constr");
					BLI_addtail(lb, nic);
					nic->val= icu->curval;
					nic->poin= &con->enforce;
					nic->type= IPO_FLOAT;
				}
			}
		}
	}
}

static NlaIpoChannel *find_nla_ipochannel(ListBase *lb, void *poin)
{
	NlaIpoChannel *nic;
	
	if(poin) {
		for(nic= lb->first; nic; nic= nic->next) {
			if(nic->poin==poin)
				return nic;
		}
	}
	return NULL;
}


static void blend_ipochannels(ListBase *dst, ListBase *src, float srcweight, int mode)
{
	NlaIpoChannel *snic, *dnic, *next;
	float dstweight;
	
	switch (mode){
		case ACTSTRIPMODE_BLEND:
			dstweight = 1.0F - srcweight;
			break;
		case ACTSTRIPMODE_ADD:
			dstweight = 1.0F;
			break;
		default :
			dstweight = 1.0F;
	}
	
	for(snic= src->first; snic; snic= next) {
		next= snic->next;
		
		dnic= find_nla_ipochannel(dst, snic->poin);
		if(dnic==NULL) {
			/* remove from src list, and insert in dest */
			BLI_remlink(src, snic);
			BLI_addtail(dst, snic);
		}
		else {
			/* we do the blend */
			dnic->val= dstweight*dnic->val + srcweight*snic->val;
		}
	}
}

int execute_ipochannels(ListBase *lb)
{
	NlaIpoChannel *nic;
	int count = 0;
	
	for(nic= lb->first; nic; nic= nic->next) {
		if(nic->poin) {
			write_ipo_poin(nic->poin, nic->type, nic->val);
			count++;
		}
	}
	return count;
}

/* nla timing */

/* this now only used for repeating cycles, to enable fields and blur. */
/* the whole time control in blender needs serious thinking... */
static float nla_time(float cfra, float unit)
{
	extern float bluroffs;	// bad construct, borrowed from object.c for now
	extern float fieldoffs;
	
	/* motion blur & fields */
	cfra+= unit*(bluroffs+fieldoffs);
	
	/* global time */
	cfra*= G.scene->r.framelen;	
	
	return cfra;
}

/* added "sizecorr" here, to allow armatures to be scaled and still have striding.
   Only works for uniform scaling. In general I'd advise against scaling armatures ever though! (ton)
*/
static float stridechannel_frame(Object *ob, float sizecorr, bActionStrip *strip, Path *path, float pathdist, float *stride_offset)
{
	bAction *act= strip->act;
	char *name= strip->stridechannel;
	bActionChannel *achan= get_action_channel(act, name);
	int stride_axis= strip->stride_axis;

	if(achan && achan->ipo) {
		IpoCurve *icu= NULL;
		float minx=0.0f, maxx=0.0f, miny=0.0f, maxy=0.0f;
		int foundvert= 0;
		
		if(stride_axis==0) stride_axis= AC_LOC_X;
		else if(stride_axis==1) stride_axis= AC_LOC_Y;
		else stride_axis= AC_LOC_Z;
		
		/* calculate the min/max */
		for (icu=achan->ipo->curve.first; icu; icu=icu->next) {
			if(icu->adrcode==stride_axis) {
				if(icu->totvert>1) {
					foundvert= 1;
					minx= icu->bezt[0].vec[1][0];
					maxx= icu->bezt[icu->totvert-1].vec[1][0];
					
					miny= icu->bezt[0].vec[1][1];
					maxy= icu->bezt[icu->totvert-1].vec[1][1];
				}
				break;
			}
		}
		
		if(foundvert && miny!=maxy) {
			float stridelen= sizecorr*fabs(maxy-miny), striptime;
			float actiondist, pdist, pdistNewNormalized, offs;
			float vec1[4], vec2[4], dir[3];
			
			/* internal cycling, actoffs is in frames */
			offs= stridelen*strip->actoffs/(maxx-minx);
			
			/* amount path moves object */
			pdist = (float)fmod (pathdist+offs, stridelen);
			striptime= pdist/stridelen;
			
			/* amount stride bone moves */
			actiondist= sizecorr*eval_icu(icu, minx + striptime*(maxx-minx)) - miny;
			
			pdist = fabs(actiondist) - pdist;
			pdistNewNormalized = (pathdist+pdist)/path->totdist;
			
			/* now we need to go pdist further (or less) on cu path */
			where_on_path(ob, (pathdist)/path->totdist, vec1, dir);	/* vec needs size 4 */
			if (pdistNewNormalized <= 1) {
				// search for correction in positive path-direction
				where_on_path(ob, pdistNewNormalized, vec2, dir);	/* vec needs size 4 */
				VecSubf(stride_offset, vec2, vec1);
			}
			else {
				// we reached the end of the path, search backwards instead
				where_on_path(ob, (pathdist-pdist)/path->totdist, vec2, dir);	/* vec needs size 4 */
				VecSubf(stride_offset, vec1, vec2);
			}
			Mat4Mul3Vecfl(ob->obmat, stride_offset);
			return striptime;
		}
	}
	return 0.0f;
}

static void cyclic_offs_bone(Object *ob, bPose *pose, bActionStrip *strip, float time)
{
	/* only called when strip has cyclic, so >= 1.0f works... */
	if(time >= 1.0f) {
		bActionChannel *achan= get_action_channel(strip->act, strip->offs_bone);

		if(achan && achan->ipo) {
			IpoCurve *icu= NULL;
			Bone *bone;
			float min[3]={0.0f, 0.0f, 0.0f}, max[3]={0.0f, 0.0f, 0.0f};
			int index=0, foundvert= 0;
			
			/* calculate the min/max */
			for (icu=achan->ipo->curve.first; icu; icu=icu->next) {
				if(icu->totvert>1) {
					
					if(icu->adrcode==AC_LOC_X)
						index= 0;
					else if(icu->adrcode==AC_LOC_Y)
						index= 1;
					else if(icu->adrcode==AC_LOC_Z)
						index= 2;
					else
						continue;
				
					foundvert= 1;
					min[index]= icu->bezt[0].vec[1][1];
					max[index]= icu->bezt[icu->totvert-1].vec[1][1];
				}
			}
			if(foundvert) {
				/* bring it into armature space */
				VecSubf(min, max, min);
				bone= get_named_bone(ob->data, strip->offs_bone);	/* weak */
				if(bone) {
					Mat4Mul3Vecfl(bone->arm_mat, min);
					
					/* dominant motion, cyclic_offset was cleared in rest_pose */
					if (strip->flag & (ACTSTRIP_CYCLIC_USEX | ACTSTRIP_CYCLIC_USEY | ACTSTRIP_CYCLIC_USEZ)) {
						if (strip->flag & ACTSTRIP_CYCLIC_USEX) pose->cyclic_offset[0]= time*min[0];
						if (strip->flag & ACTSTRIP_CYCLIC_USEY) pose->cyclic_offset[1]= time*min[1];
						if (strip->flag & ACTSTRIP_CYCLIC_USEZ) pose->cyclic_offset[2]= time*min[2];
					} else {
						if( fabs(min[0]) >= fabs(min[1]) && fabs(min[0]) >= fabs(min[2]))
							pose->cyclic_offset[0]= time*min[0];
						else if( fabs(min[1]) >= fabs(min[0]) && fabs(min[1]) >= fabs(min[2]))
							pose->cyclic_offset[1]= time*min[1];
						else
							pose->cyclic_offset[2]= time*min[2];
					}
				}
			}
		}
	}
}

/* simple case for now; only the curve path with constraint value > 0.5 */
/* blending we might do later... */
static Object *get_parent_path(Object *ob)
{
	bConstraint *con;
	
	if(ob->parent && ob->parent->type==OB_CURVE)
		return ob->parent;
	
	for (con = ob->constraints.first; con; con=con->next) {
		if(con->type==CONSTRAINT_TYPE_FOLLOWPATH) {
			if(con->enforce>0.5f) {
				bFollowPathConstraint *data= con->data;
				return data->tar;
			}
		}
	}
	return NULL;
}

/* ************** do the action ************ */

/* For the calculation of the effects of an action at the given frame on an object 
 * This is currently only used for the action constraint 
 */
void what_does_obaction (Object *ob, bAction *act, float cframe)
{
	ListBase tchanbase= {NULL, NULL};
	
	clear_workob();
	Mat4CpyMat4(workob.obmat, ob->obmat);
	Mat4CpyMat4(workob.parentinv, ob->parentinv);
	Mat4CpyMat4(workob.constinv, ob->constinv);
	workob.parent= ob->parent;
	workob.track= ob->track;

	workob.trackflag= ob->trackflag;
	workob.upflag= ob->upflag;
	
	workob.partype= ob->partype;
	workob.par1= ob->par1;
	workob.par2= ob->par2;
	workob.par3= ob->par3;

	workob.constraints.first = ob->constraints.first;
	workob.constraints.last = ob->constraints.last;

	strcpy(workob.parsubstr, ob->parsubstr);
	strcpy(workob.id.name, ob->id.name);
	
	/* extract_ipochannels_from_action needs id's! */
	workob.action= act;
	
	extract_ipochannels_from_action(&tchanbase, &workob.id, act, "Object", bsystem_time(&workob, cframe, 0.0));
	
	if (tchanbase.first) {
		execute_ipochannels(&tchanbase);
		BLI_freelistN(&tchanbase);
	}
}

/* ----- nla, etc. --------- */

static void do_nla(Object *ob, int blocktype)
{
	bPose *tpose= NULL;
	Key *key= NULL;
	ListBase tchanbase={NULL, NULL}, chanbase={NULL, NULL};
	bActionStrip *strip, *striplast=NULL, *stripfirst=NULL;
	float striptime, frametime, length, actlength;
	float blendfac, stripframe;
	float scene_cfra= frame_to_float(G.scene->r.cfra); 
	int	doit, dostride;
	
	if(blocktype==ID_AR) {
		copy_pose(&tpose, ob->pose, 1);
		rest_pose(ob->pose);		// potentially destroying current not-keyed pose
	}
	else {
		key= ob_get_key(ob);
	}
	
	/* check on extend to left or right, when no strip is hit by 'cfra' */
	for (strip=ob->nlastrips.first; strip; strip=strip->next) {
		/* escape loop on a hit */
		if( scene_cfra >= strip->start && scene_cfra <= strip->end + 0.1f)	/* note 0.1 comes back below */
			break;
		if(scene_cfra < strip->start) {
			if(stripfirst==NULL)
				stripfirst= strip;
			else if(stripfirst->start > strip->start)
				stripfirst= strip;
		}
		else if(scene_cfra > strip->end) {
			if(striplast==NULL)
				striplast= strip;
			else if(striplast->end < strip->end)
				striplast= strip;
		}
	}
	if(strip==NULL) {	/* extend */
		if(striplast)
			scene_cfra= striplast->end;
		else if(stripfirst)
			scene_cfra= stripfirst->start;
	}
	
	/* and now go over all strips */
	for (strip=ob->nlastrips.first; strip; strip=strip->next){
		doit=dostride= 0;
		
		if (strip->act && !(strip->flag & ACTSTRIP_MUTE)) {	/* so theres an action */
			
			/* Determine if the current frame is within the strip's range */
			length = strip->end-strip->start;
			actlength = strip->actend-strip->actstart;
			striptime = (scene_cfra-(strip->start)) / length;
			stripframe = (scene_cfra-(strip->start)) ;

			if (striptime>=0.0){
				
				if(blocktype==ID_AR) 
					rest_pose(tpose);
				
				/* To handle repeat, we add 0.1 frame extra to make sure the last frame is included */
				if (striptime < 1.0f + 0.1f/length) {
					
					/* Handle path */
					if ((strip->flag & ACTSTRIP_USESTRIDE) && (blocktype==ID_AR) && (ob->ipoflag & OB_DISABLE_PATH)==0){
						Object *parent= get_parent_path(ob);
						
						if (parent) {
							Curve *cu = parent->data;
							float ctime, pdist;
							
							if (cu->flag & CU_PATH){
								/* Ensure we have a valid path */
								if(cu->path==NULL || cu->path->data==NULL) makeDispListCurveTypes(parent, 0);
								if(cu->path) {
									
									/* Find the position on the path */
									ctime= bsystem_time(ob, scene_cfra, 0.0);
									
									if(calc_ipo_spec(cu->ipo, CU_SPEED, &ctime)==0) {
										/* correct for actions not starting on zero */
										ctime= (ctime - strip->actstart)/cu->pathlen;
										CLAMP(ctime, 0.0, 1.0);
									}
									pdist = ctime*cu->path->totdist;
									
									if(tpose && strip->stridechannel[0]) {
										striptime= stridechannel_frame(parent, ob->size[0], strip, cu->path, pdist, tpose->stride_offset);
									}									
									else {
										if (strip->stridelen) {
											striptime = pdist / strip->stridelen;
											striptime = (float)fmod (striptime+strip->actoffs, 1.0);
										}
										else
											striptime = 0;
									}
									
									frametime = (striptime * actlength) + strip->actstart;
									frametime= bsystem_time(ob, frametime, 0.0);
									
									if(blocktype==ID_AR) {
										extract_pose_from_action (tpose, strip->act, frametime);
									}
									else if(blocktype==ID_OB) {
										extract_ipochannels_from_action(&tchanbase, &ob->id, strip->act, "Object", frametime);
										if(key)
											extract_ipochannels_from_action(&tchanbase, &key->id, strip->act, "Shape", frametime);
									}
									doit=dostride= 1;
								}
							}
						}
					}
					/* To handle repeat, we add 0.1 frame extra to make sure the last frame is included */
					else  {
						
						/* Mod to repeat */
						if(strip->repeat!=1.0f) {
							float cycle= striptime*strip->repeat;
							
							striptime = (float)fmod (cycle, 1.0f + 0.1f/length);
							cycle-= striptime;
							
							if(blocktype==ID_AR)
								cyclic_offs_bone(ob, tpose, strip, cycle);
						}

						frametime = (striptime * actlength) + strip->actstart;
						frametime= nla_time(frametime, (float)strip->repeat);
							
						if(blocktype==ID_AR) {
							extract_pose_from_action (tpose, strip->act, frametime);
						}
						else if(blocktype==ID_OB) {
							extract_ipochannels_from_action(&tchanbase, &ob->id, strip->act, "Object", frametime);
							if(key)
								extract_ipochannels_from_action(&tchanbase, &key->id, strip->act, "Shape", frametime);
						}
						
						doit=1;
					}
				}
				/* Handle extend */
				else {
					if (strip->flag & ACTSTRIP_HOLDLASTFRAME){
						/* we want the strip to hold on the exact fraction of the repeat value */
						
						frametime = actlength * (strip->repeat-(int)strip->repeat);
						if(frametime<=0.000001f) frametime= actlength;	/* rounding errors... */
						frametime= bsystem_time(ob, frametime+strip->actstart, 0.0);
						
						if(blocktype==ID_AR)
							extract_pose_from_action (tpose, strip->act, frametime);
						else if(blocktype==ID_OB) {
							extract_ipochannels_from_action(&tchanbase, &ob->id, strip->act, "Object", frametime);
							if(key)
								extract_ipochannels_from_action(&tchanbase, &key->id, strip->act, "Shape", frametime);
						}
						
						/* handle cycle hold */
						if(strip->repeat!=1.0f) {
							if(blocktype==ID_AR)
								cyclic_offs_bone(ob, tpose, strip, strip->repeat-1.0f);
						}
						
						doit=1;
					}
				}
				
				/* Handle blendin & blendout */
				if (doit){
					/* Handle blendin */
					
					if (strip->blendin>0.0 && stripframe<=strip->blendin && scene_cfra>=strip->start){
						blendfac = stripframe/strip->blendin;
					}
					else if (strip->blendout>0.0 && stripframe>=(length-strip->blendout) && scene_cfra<=strip->end){
						blendfac = (length-stripframe)/(strip->blendout);
					}
					else
						blendfac = 1;
					
					if(blocktype==ID_AR) {/* Blend this pose with the accumulated pose */
						/* offset bone, for matching cycles */
						blend_pose_offset_bone (strip, ob->pose, tpose, blendfac, strip->mode);
						
						blend_poses (ob->pose, tpose, blendfac, strip->mode);
						if(dostride)
							blend_pose_strides (ob->pose, tpose, blendfac, strip->mode);
					}
					else {
						blend_ipochannels(&chanbase, &tchanbase, blendfac, strip->mode);
						BLI_freelistN(&tchanbase);
					}
				}
			}					
		}
	}
	
	if(blocktype==ID_OB) {
		execute_ipochannels(&chanbase);
	}
	else if(blocktype==ID_AR) {
		/* apply stride offset to object */
		VecAddf(ob->obmat[3], ob->obmat[3], ob->pose->stride_offset);
	}
	
	/* free */
	if (tpose)
		free_pose(tpose);
	if(chanbase.first)
		BLI_freelistN(&chanbase);
}

void do_all_pose_actions(Object *ob)
{
	/* only to have safe calls from editor */
	if(ob==NULL) return;
	if(ob->type!=OB_ARMATURE || ob->pose==NULL) return;

	if(ob->pose->flag & POSE_LOCKED) {  /*  no actions to execute while transform */
		if(ob->pose->flag & POSE_DO_UNLOCK)
			ob->pose->flag &= ~(POSE_LOCKED|POSE_DO_UNLOCK);
	}
	else if(ob->action && ((ob->nlaflag & OB_NLA_OVERRIDE)==0 || ob->nlastrips.first==NULL) ) {
		float cframe= (float) G.scene->r.cfra;
		
		cframe= get_action_frame(ob, cframe);
		
		extract_pose_from_action (ob->pose, ob->action, bsystem_time(ob, cframe, 0.0));
	}
	else if(ob->nlastrips.first) {
		do_nla(ob, ID_AR);
	}
	
	/* clear POSE_DO_UNLOCK flags that might have slipped through (just in case) */
	ob->pose->flag &= ~POSE_DO_UNLOCK;
}

/* called from where_is_object */
void do_all_object_actions(Object *ob)
{
	if(ob==NULL) return;
	if(ob->dup_group) return;	/* prevent conflicts, might add smarter check later */
	
	/* Do local action */
	if(ob->action && ((ob->nlaflag & OB_NLA_OVERRIDE)==0 || ob->nlastrips.first==NULL) ) {
		ListBase tchanbase= {NULL, NULL};
		Key *key= ob_get_key(ob);
		float cframe= (float) G.scene->r.cfra;
		
		cframe= get_action_frame(ob, cframe);
		
		extract_ipochannels_from_action(&tchanbase, &ob->id, ob->action, "Object", bsystem_time(ob, cframe, 0.0));
		if(key)
			extract_ipochannels_from_action(&tchanbase, &key->id, ob->action, "Shape", bsystem_time(ob, cframe, 0.0));
		
		if(tchanbase.first) {
			execute_ipochannels(&tchanbase);
			BLI_freelistN(&tchanbase);
		}
	}
	else if(ob->nlastrips.first) {
		do_nla(ob, ID_OB);
	}
}