source/blender/blenkernel/intern/constraint.c

   1 /**
   2  * $Id$
   3  *
   4  * ***** BEGIN GPL LICENSE BLOCK *****
   5  *
   6  * This program is free software; you can redistribute it and/or
   7  * modify it under the terms of the GNU General Public License
   8  * as published by the Free Software Foundation; either version 2
   9  * of the License, or (at your option) any later version.
  10  *
  11  * This program is distributed in the hope that it will be useful,
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14  * GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public License
  17  * along with this program; if not, write to the Free Software Foundation,
  18  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  19  *
  20  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  21  * All rights reserved.
  22  *
  23  * The Original Code is: all of this file.
  24  *
  25  * Contributor(s): 2007, Joshua Leung, major recode
  26  *
  27  * ***** END GPL LICENSE BLOCK *****
  28  */
  29
  30 #include <stdio.h>
  31 #include <stddef.h>
  32 #include <string.h>
  33 #include <math.h>
  34
  35 #include "MEM_guardedalloc.h"
  36 #include "nla.h"
  37
  38 #include "BLI_blenlib.h"
  39 #include "BLI_arithb.h"
  40
  41 #include "DNA_armature_types.h"
  42 #include "DNA_constraint_types.h"
  43 #include "DNA_object_types.h"
  44 #include "DNA_action_types.h"
  45 #include "DNA_curve_types.h"
  46 #include "DNA_meshdata_types.h"
  47 #include "DNA_lattice_types.h"
  48 #include "DNA_scene_types.h"
  49 #include "DNA_text_types.h"
  50
  51 #include "BKE_utildefines.h"
  52 #include "BKE_action.h"
  53 #include "BKE_anim.h" /* for the curve calculation part */
  54 #include "BKE_armature.h"
  55 #include "BKE_blender.h"
  56 #include "BKE_constraint.h"
  57 #include "BKE_displist.h"
  58 #include "BKE_deform.h"
  59 #include "BKE_DerivedMesh.h"    /* for geometry targets */
  60 #include "BKE_cdderivedmesh.h" /* for geometry targets */
  61 #include "BKE_object.h"
  62 #include "BKE_ipo.h"
  63 #include "BKE_global.h"
  64 #include "BKE_library.h"
  65 #include "BKE_idprop.h"
  66
  67 #ifndef DISABLE_PYTHON
  68 #include "BPY_extern.h"
  69 #endif
  70
  71 #include "blendef.h"
  72
  73 #ifdef HAVE_CONFIG_H
  74 #include <config.h>
  75 #endif
  76
  77 #ifndef M_PI
  78 #define M_PI            3.14159265358979323846
  79 #endif
  80
  81
  82 /* ******************* Constraint Channels ********************** */
  83 /* Constraint Channels exist in one of two places:
  84  *      - Under Action Channels in an Action  (act->chanbase->achan->constraintChannels)
  85  *      - Under Object without Object-level Action yet (ob->constraintChannels)
  86  *
  87  * The main purpose that Constraint Channels serve is to act as a link
  88  * between an IPO-block (which provides values to interpolate between for some settings)
  89  */
  90
  91 /* ------------ Data Management ----------- */
  92
  93 /* Free constraint channels, and reduce the number of users of the related ipo-blocks */
  94 void free_constraint_channels (ListBase *chanbase)
  95 {
  96         bConstraintChannel *chan;
  97
  98         for (chan=chanbase->first; chan; chan=chan->next) {
  99                 if (chan->ipo) {
 100                         chan->ipo->id.us--;
 101                 }
 102         }
 103
 104         BLI_freelistN(chanbase);
 105 }
 106
 107 /* Make a copy of the constraint channels from dst to src, and also give the
 108  * new constraint channels their own copy of the original's IPO.
 109  */
 110 void copy_constraint_channels (ListBase *dst, ListBase *src)
 111 {
 112         bConstraintChannel *dchan, *schan;
 113
 114         dst->first = dst->last = NULL;
 115         duplicatelist(dst, src);
 116
 117         for (dchan=dst->first, schan=src->first; dchan; dchan=dchan->next, schan=schan->next) {
 118                 dchan->ipo = copy_ipo(schan->ipo);
 119         }
 120 }
 121
 122 /* Make a copy of the constraint channels from dst to src, but make the
 123  * new constraint channels use the same IPO-data as their twin.
 124  */
 125 void clone_constraint_channels (ListBase *dst, ListBase *src)
 126 {
 127         bConstraintChannel *dchan, *schan;
 128
 129         dst->first = dst->last = NULL;
 130         duplicatelist(dst, src);
 131
 132         for (dchan=dst->first, schan=src->first; dchan; dchan=dchan->next, schan=schan->next) {
 133                 id_us_plus((ID *)dchan->ipo);
 134         }
 135 }
 136
 137 /* ------------- Constraint Channel Tools ------------ */
 138
 139 /* Find the constraint channel with a given name */
 140 bConstraintChannel *get_constraint_channel (ListBase *list, const char name[])
 141 {
 142         bConstraintChannel *chan;
 143
 144         if (list) {
 145                 for (chan = list->first; chan; chan=chan->next) {
 146                         if (!strcmp(name, chan->name)) {
 147                                 return chan;
 148                         }
 149                 }
 150         }
 151
 152         return NULL;
 153 }
 154
 155 /* Find or create a new constraint channel */
 156 bConstraintChannel *verify_constraint_channel (ListBase *list, const char name[])
 157 {
 158         bConstraintChannel *chan;
 159
 160         chan= get_constraint_channel(list, name);
 161
 162         if (chan == NULL) {
 163                 chan= MEM_callocN(sizeof(bConstraintChannel), "new constraint channel");
 164                 BLI_addtail(list, chan);
 165                 strcpy(chan->name, name);
 166         }
 167
 168         return chan;
 169 }
 170
 171 /* --------- Constraint Channel Evaluation/Execution --------- */
 172
 173 /* IPO-system call: calculate IPO-block for constraint channels, and flush that
 174  * info onto the corresponding constraint.
 175  */
 176 void do_constraint_channels (ListBase *conbase, ListBase *chanbase, float ctime, short onlydrivers)
 177 {
 178         bConstraint *con;
 179
 180         /* for each Constraint, calculate its Influence from the corresponding ConstraintChannel */
 181         for (con=conbase->first; con; con=con->next) {
 182                 Ipo *ipo= NULL;
 183
 184                 if (con->flag & CONSTRAINT_OWN_IPO)
 185                         ipo= con->ipo;
 186                 else {
 187                         bConstraintChannel *chan = get_constraint_channel(chanbase, con->name);
 188                         if (chan) ipo= chan->ipo;
 189                 }
 190
 191                 if (ipo) {
 192                         IpoCurve *icu;
 193
 194                         calc_ipo(ipo, ctime);
 195
 196                         for (icu=ipo->curve.first; icu; icu=icu->next) {
 197                                 if (!onlydrivers || icu->driver) {
 198                                         switch (icu->adrcode) {
 199                                                 case CO_ENFORCE:
 200                                                 {
 201                                                         /* Influence is clamped to 0.0f -> 1.0f range */
 202                                                         con->enforce = CLAMPIS(icu->curval, 0.0f, 1.0f);
 203                                                 }
 204                                                         break;
 205                                                 case CO_HEADTAIL:
 206                                                 {
 207                                                         /* we need to check types of constraints that can get this here, as user
 208                                                          * may have created an IPO-curve for this from IPO-editor but for a constraint
 209                                                          * that cannot support this
 210                                                          */
 211                                                         switch (con->type) {
 212                                                                 /* supported constraints go here... */
 213                                                                 case CONSTRAINT_TYPE_LOCLIKE:
 214                                                                 case CONSTRAINT_TYPE_TRACKTO:
 215                                                                 case CONSTRAINT_TYPE_MINMAX:
 216                                                                 case CONSTRAINT_TYPE_STRETCHTO:
 217                                                                 case CONSTRAINT_TYPE_DISTLIMIT:
 218                                                                         con->headtail = icu->curval;
 219                                                                         break;
 220
 221                                                                 default:
 222                                                                         /* not supported */
 223                                                                         break;
 224                                                         }
 225                                                 }
 226                                                         break;
 227                                         }
 228                                 }
 229                         }
 230                 }
 231         }
 232 }
 233
 234 /* ************************ Constraints - General Utilities *************************** */
 235 /* These functions here don't act on any specific constraints, and are therefore should/will
 236  * not require any of the special function-pointers afforded by the relevant constraint
 237  * type-info structs.
 238  */
 239
 240 /* -------------- Naming -------------- */
 241
 242 /* Find the first available, non-duplicate name for a given constraint */
 243 void unique_constraint_name (bConstraint *con, ListBase *list)
 244 {
 245         BLI_uniquename(list, con, "Const", offsetof(bConstraint, name), 32);
 246 }
 247
 248 /* ----------------- Evaluation Loop Preparation --------------- */
 249
 250 /* package an object/bone for use in constraint evaluation */
 251 /* This function MEM_calloc's a bConstraintOb struct, that will need to be freed after evaluation */
 252 bConstraintOb *constraints_make_evalob (Object *ob, void *subdata, short datatype)
 253 {
 254         bConstraintOb *cob;
 255
 256         /* create regardless of whether we have any data! */
 257         cob= MEM_callocN(sizeof(bConstraintOb), "bConstraintOb");
 258
 259         /* based on type of available data */
 260         switch (datatype) {
 261                 case CONSTRAINT_OBTYPE_OBJECT:
 262                 {
 263                         /* disregard subdata... calloc should set other values right */
 264                         if (ob) {
 265                                 cob->ob = ob;
 266                                 cob->type = datatype;
 267                                 Mat4CpyMat4(cob->matrix, ob->obmat);
 268                         }
 269                         else
 270                                 Mat4One(cob->matrix);
 271
 272                         Mat4CpyMat4(cob->startmat, cob->matrix);
 273                 }
 274                         break;
 275                 case CONSTRAINT_OBTYPE_BONE:
 276                 {
 277                         /* only set if we have valid bone, otherwise default */
 278                         if (ob && subdata) {
 279                                 cob->ob = ob;
 280                                 cob->pchan = (bPoseChannel *)subdata;
 281                                 cob->type = datatype;
 282
 283                                 /* matrix in world-space */
 284                                 Mat4MulMat4(cob->matrix, cob->pchan->pose_mat, ob->obmat);
 285                         }
 286                         else
 287                                 Mat4One(cob->matrix);
 288
 289                         Mat4CpyMat4(cob->startmat, cob->matrix);
 290                 }
 291                         break;
 292
 293                 default: /* other types not yet handled */
 294                         Mat4One(cob->matrix);
 295                         Mat4One(cob->startmat);
 296                         break;
 297         }
 298
 299         return cob;
 300 }
 301
 302 /* cleanup after constraint evaluation */
 303 void constraints_clear_evalob (bConstraintOb *cob)
 304 {
 305         float delta[4][4], imat[4][4];
 306
 307         /* prevent crashes */
 308         if (cob == NULL)
 309                 return;
 310
 311         /* calculate delta of constraints evaluation */
 312         Mat4Invert(imat, cob->startmat);
 313         Mat4MulMat4(delta, imat, cob->matrix);
 314
 315         /* copy matrices back to source */
 316         switch (cob->type) {
 317                 case CONSTRAINT_OBTYPE_OBJECT:
 318                 {
 319                         /* cob->ob might not exist! */
 320                         if (cob->ob) {
 321                                 /* copy new ob-matrix back to owner */
 322                                 Mat4CpyMat4(cob->ob->obmat, cob->matrix);
 323
 324                                 /* copy inverse of delta back to owner */
 325                                 Mat4Invert(cob->ob->constinv, delta);
 326                         }
 327                 }
 328                         break;
 329                 case CONSTRAINT_OBTYPE_BONE:
 330                 {
 331                         /* cob->ob or cob->pchan might not exist */
 332                         if (cob->ob && cob->pchan) {
 333                                 /* copy new pose-matrix back to owner */
 334                                 Mat4MulMat4(cob->pchan->pose_mat, cob->matrix, cob->ob->imat);
 335
 336                                 /* copy inverse of delta back to owner */
 337                                 Mat4Invert(cob->pchan->constinv, delta);
 338                         }
 339                 }
 340                         break;
 341         }
 342
 343         /* free tempolary struct */
 344         MEM_freeN(cob);
 345 }
 346
 347 /* -------------- Space-Conversion API -------------- */
 348
 349 /* This function is responsible for the correct transformations/conversions
 350  * of a matrix from one space to another for constraint evaluation.
 351  * For now, this is only implemented for Objects and PoseChannels.
 352  */
 353 void constraint_mat_convertspace (Object *ob, bPoseChannel *pchan, float mat[][4], short from, short to)
 354 {
 355         float tempmat[4][4];
 356         float diff_mat[4][4];
 357         float imat[4][4];
 358
 359         /* prevent crashes in these unlikely events  */
 360         if (ob==NULL || mat==NULL) return;
 361         /* optimise trick - check if need to do anything */
 362         if (from == to) return;
 363
 364         /* are we dealing with pose-channels or objects */
 365         if (pchan) {
 366                 /* pose channels */
 367                 switch (from) {
 368                         case CONSTRAINT_SPACE_WORLD: /* ---------- FROM WORLDSPACE ---------- */
 369                         {
 370                                 /* world to pose */
 371                                 Mat4Invert(imat, ob->obmat);
 372                                 Mat4CpyMat4(tempmat, mat);
 373                                 Mat4MulMat4(mat, tempmat, imat);
 374
 375                                 /* use pose-space as stepping stone for other spaces... */
 376                                 if (ELEM(to, CONSTRAINT_SPACE_LOCAL, CONSTRAINT_SPACE_PARLOCAL)) {
 377                                         /* call self with slightly different values */
 378                                         constraint_mat_convertspace(ob, pchan, mat, CONSTRAINT_SPACE_POSE, to);
 379                                 }
 380                         }
 381                                 break;
 382                         case CONSTRAINT_SPACE_POSE:     /* ---------- FROM POSESPACE ---------- */
 383                         {
 384                                 /* pose to world */
 385                                 if (to == CONSTRAINT_SPACE_WORLD) {
 386                                         Mat4CpyMat4(tempmat, mat);
 387                                         Mat4MulMat4(mat, tempmat, ob->obmat);
 388                                 }
 389                                 /* pose to local */
 390                                 else if (to == CONSTRAINT_SPACE_LOCAL) {
 391                                         if (pchan->bone) {
 392                                                 if (pchan->parent) {
 393                                                         float offs_bone[4][4];
 394
 395                                                         /* construct offs_bone the same way it is done in armature.c */
 396                                                         Mat4CpyMat3(offs_bone, pchan->bone->bone_mat);
 397                                                         VECCOPY(offs_bone[3], pchan->bone->head);
 398                                                         offs_bone[3][1]+= pchan->bone->parent->length;
 399
 400                                                         if (pchan->bone->flag & BONE_HINGE) {
 401                                                                 /* pose_mat = par_pose-space_location * chan_mat */
 402                                                                 float tmat[4][4];
 403
 404                                                                 /* the rotation of the parent restposition */
 405                                                                 Mat4CpyMat4(tmat, pchan->bone->parent->arm_mat);
 406
 407                                                                 /* the location of actual parent transform */
 408                                                                 VECCOPY(tmat[3], offs_bone[3]);
 409                                                                 offs_bone[3][0]= offs_bone[3][1]= offs_bone[3][2]= 0.0f;
 410                                                                 Mat4MulVecfl(pchan->parent->pose_mat, tmat[3]);
 411
 412                                                                 Mat4MulMat4(diff_mat, offs_bone, tmat);
 413                                                                 Mat4Invert(imat, diff_mat);
 414                                                         }
 415                                                         else {
 416                                                                 /* pose_mat = par_pose_mat * bone_mat * chan_mat */
 417                                                                 Mat4MulMat4(diff_mat, offs_bone, pchan->parent->pose_mat);
 418                                                                 Mat4Invert(imat, diff_mat);
 419                                                         }
 420                                                 }
 421                                                 else {
 422                                                         /* pose_mat = chan_mat * arm_mat */
 423                                                         Mat4Invert(imat, pchan->bone->arm_mat);
 424                                                 }
 425
 426                                                 Mat4CpyMat4(tempmat, mat);
 427                                                 Mat4MulMat4(mat, tempmat, imat);
 428                                         }
 429                                 }
 430                                 /* pose to local with parent */
 431                                 else if (to == CONSTRAINT_SPACE_PARLOCAL) {
 432                                         if (pchan->bone) {
 433                                                 Mat4Invert(imat, pchan->bone->arm_mat);
 434                                                 Mat4CpyMat4(tempmat, mat);
 435                                                 Mat4MulMat4(mat, tempmat, imat);
 436                                         }
 437                                 }
 438                         }
 439                                 break;
 440                         case CONSTRAINT_SPACE_LOCAL: /* ------------ FROM LOCALSPACE --------- */
 441                         {
 442                                 /* local to pose - do inverse procedure that was done for pose to local */
 443                                 if (pchan->bone) {
 444                                         /* we need the posespace_matrix = local_matrix + (parent_posespace_matrix + restpos) */
 445                                         if (pchan->parent) {
 446                                                 float offs_bone[4][4];
 447
 448                                                 /* construct offs_bone the same way it is done in armature.c */
 449                                                 Mat4CpyMat3(offs_bone, pchan->bone->bone_mat);
 450                                                 VECCOPY(offs_bone[3], pchan->bone->head);
 451                                                 offs_bone[3][1]+= pchan->bone->parent->length;
 452
 453                                                 if (pchan->bone->flag & BONE_HINGE) {
 454                                                         /* pose_mat = par_pose-space_location * chan_mat */
 455                                                         float tmat[4][4];
 456
 457                                                         /* the rotation of the parent restposition */
 458                                                         Mat4CpyMat4(tmat, pchan->bone->parent->arm_mat);
 459
 460                                                         /* the location of actual parent transform */
 461                                                         VECCOPY(tmat[3], offs_bone[3]);
 462                                                         offs_bone[3][0]= offs_bone[3][1]= offs_bone[3][2]= 0.0f;
 463                                                         Mat4MulVecfl(pchan->parent->pose_mat, tmat[3]);
 464
 465                                                         Mat4MulMat4(diff_mat, offs_bone, tmat);
 466                                                         Mat4CpyMat4(tempmat, mat);
 467                                                         Mat4MulMat4(mat, tempmat, diff_mat);
 468                                                 }
 469                                                 else {
 470                                                         /* pose_mat = par_pose_mat * bone_mat * chan_mat */
 471                                                         Mat4MulMat4(diff_mat, offs_bone, pchan->parent->pose_mat);
 472                                                         Mat4CpyMat4(tempmat, mat);
 473                                                         Mat4MulMat4(mat, tempmat, diff_mat);
 474                                                 }
 475                                         }
 476                                         else {
 477                                                 Mat4CpyMat4(diff_mat, pchan->bone->arm_mat);
 478
 479                                                 Mat4CpyMat4(tempmat, mat);
 480                                                 Mat4MulMat4(mat, tempmat, diff_mat);
 481                                         }
 482                                 }
 483
 484                                 /* use pose-space as stepping stone for other spaces */
 485                                 if (ELEM(to, CONSTRAINT_SPACE_WORLD, CONSTRAINT_SPACE_PARLOCAL)) {
 486                                         /* call self with slightly different values */
 487                                         constraint_mat_convertspace(ob, pchan, mat, CONSTRAINT_SPACE_POSE, to);
 488                                 }
 489                         }
 490                                 break;
 491                         case CONSTRAINT_SPACE_PARLOCAL: /* -------------- FROM LOCAL WITH PARENT ---------- */
 492                         {
 493                                 /* local + parent to pose */
 494                                 if (pchan->bone) {
 495                                         Mat4CpyMat4(diff_mat, pchan->bone->arm_mat);
 496                                         Mat4CpyMat4(tempmat, mat);
 497                                         Mat4MulMat4(mat, diff_mat, tempmat);
 498                                 }
 499
 500                                 /* use pose-space as stepping stone for other spaces */
 501                                 if (ELEM(to, CONSTRAINT_SPACE_WORLD, CONSTRAINT_SPACE_LOCAL)) {
 502                                         /* call self with slightly different values */
 503                                         constraint_mat_convertspace(ob, pchan, mat, CONSTRAINT_SPACE_POSE, to);
 504                                 }
 505                         }
 506                                 break;
 507                 }
 508         }
 509         else {
 510                 /* objects */
 511                 if (from==CONSTRAINT_SPACE_WORLD && to==CONSTRAINT_SPACE_LOCAL) {
 512                         /* check if object has a parent - otherwise this won't work */
 513                         if (ob->parent) {
 514                                 /* 'subtract' parent's effects from owner */
 515                                 Mat4MulMat4(diff_mat, ob->parentinv, ob->parent->obmat);
 516                                 Mat4Invert(imat, diff_mat);
 517                                 Mat4CpyMat4(tempmat, mat);
 518                                 Mat4MulMat4(mat, tempmat, imat);
 519                         }
 520                 }
 521                 else if (from==CONSTRAINT_SPACE_LOCAL && to==CONSTRAINT_SPACE_WORLD) {
 522                         /* check that object has a parent - otherwise this won't work */
 523                         if (ob->parent) {
 524                                 /* 'add' parent's effect back to owner */
 525                                 Mat4CpyMat4(tempmat, mat);
 526                                 Mat4MulMat4(diff_mat, ob->parentinv, ob->parent->obmat);
 527                                 Mat4MulMat4(mat, tempmat, diff_mat);
 528                         }
 529                 }
 530         }
 531 }
 532
 533 /* ------------ General Target Matrix Tools ---------- */
 534
 535 /* function that sets the given matrix based on given vertex group in mesh */
 536 static void contarget_get_mesh_mat (Object *ob, char *substring, float mat[][4])
 537 {
 538         DerivedMesh *dm;
 539         float vec[3] = {0.0f, 0.0f, 0.0f}, tvec[3];
 540         float normal[3] = {0.0f, 0.0f, 0.0f}, plane[3];
 541         float imat[3][3], tmat[3][3];
 542         int dgroup;
 543
 544         /* initialize target matrix using target matrix */
 545         Mat4CpyMat4(mat, ob->obmat);
 546
 547         /* get index of vertex group */
 548         dgroup = get_named_vertexgroup_num(ob, substring);
 549         if (dgroup < 0) return;
 550
 551         /* get DerivedMesh */
 552         if ((G.obedit == ob) && (G.editMesh)) {
 553                 /* target is in editmode, so get a special derived mesh */
 554                 dm = CDDM_from_editmesh(G.editMesh, ob->data);
 555         }
 556         else {
 557                 /* when not in EditMode, this should exist */
 558                 dm = (DerivedMesh *)ob->derivedFinal;
 559         }
 560
 561         /* only continue if there's a valid DerivedMesh */
 562         if (dm) {
 563                 MDeformVert *dvert = dm->getVertDataArray(dm, CD_MDEFORMVERT);
 564                 int *index = (int *)dm->getVertDataArray(dm, CD_ORIGINDEX);
 565                 int numVerts = dm->getNumVerts(dm);
 566                 int i, j, count = 0;
 567                 float co[3], nor[3];
 568
 569                 /* check that dvert and index are valid pointers (just in case) */
 570                 if (dvert && index) {
 571                         /* get the average of all verts with that are in the vertex-group */
 572                         for (i = 0; i < numVerts; i++, index++) {
 573                                 for (j = 0; j < dvert[i].totweight; j++) {
 574                                         /* does this vertex belong to nominated vertex group? */
 575                                         if (dvert[i].dw[j].def_nr == dgroup) {
 576                                                 dm->getVertCo(dm, i, co);
 577                                                 dm->getVertNo(dm, i, nor);
 578                                                 VecAddf(vec, vec, co);
 579                                                 VecAddf(normal, normal, nor);
 580                                                 count++;
 581                                                 break;
 582                                         }
 583
 584                                 }
 585                         }
 586
 587
 588                         /* calculate averages of normal and coordinates */
 589                         if (count > 0) {
 590                                 VecMulf(vec, 1.0f / count);
 591                                 VecMulf(normal, 1.0f / count);
 592                         }
 593
 594
 595                         /* derive the rotation from the average normal:
 596                          *              - code taken from transform_manipulator.c,
 597                          *                      calc_manipulator_stats, V3D_MANIP_NORMAL case
 598                          */
 599                         /*      we need the transpose of the inverse for a normal... */
 600                         Mat3CpyMat4(imat, ob->obmat);
 601
 602                         Mat3Inv(tmat, imat);
 603                         Mat3Transp(tmat);
 604                         Mat3MulVecfl(tmat, normal);
 605
 606                         Normalize(normal);
 607                         VECCOPY(plane, tmat[1]);
 608
 609                         VECCOPY(tmat[2], normal);
 610                         Crossf(tmat[0], normal, plane);
 611                         Crossf(tmat[1], tmat[2], tmat[0]);
 612
 613                         Mat4CpyMat3(mat, tmat);
 614                         Mat4Ortho(mat);
 615
 616
 617                         /* apply the average coordinate as the new location */
 618                         VecMat4MulVecfl(tvec, ob->obmat, vec);
 619                         VECCOPY(mat[3], tvec);
 620                 }
 621         }
 622
 623         /* free temporary DerivedMesh created (in EditMode case) */
 624         if (G.editMesh) {
 625                 if (dm) dm->release(dm);
 626         }
 627 }
 628
 629 /* function that sets the given matrix based on given vertex group in lattice */
 630 static void contarget_get_lattice_mat (Object *ob, char *substring, float mat[][4])
 631 {
 632         Lattice *lt= (Lattice *)ob->data;
 633
 634         DispList *dl = find_displist(&ob->disp, DL_VERTS);
 635         float *co = dl?dl->verts:NULL;
 636         BPoint *bp = lt->def;
 637
 638         MDeformVert *dvert = lt->dvert;
 639         int tot_verts= lt->pntsu*lt->pntsv*lt->pntsw;
 640         float vec[3]= {0.0f, 0.0f, 0.0f}, tvec[3];
 641         int dgroup=0, grouped=0;
 642         int i, n;
 643
 644         /* initialize target matrix using target matrix */
 645         Mat4CpyMat4(mat, ob->obmat);
 646
 647         /* get index of vertex group */
 648         dgroup = get_named_vertexgroup_num(ob, substring);
 649         if (dgroup < 0) return;
 650         if (dvert == NULL) return;
 651
 652         /* 1. Loop through control-points checking if in nominated vertex-group.
 653          * 2. If it is, add it to vec to find the average point.
 654          */
 655         for (i=0; i < tot_verts; i++, dvert++) {
 656                 for (n= 0; n < dvert->totweight; n++) {
 657                         /* found match - vert is in vgroup */
 658                         if (dvert->dw[n].def_nr == dgroup) {
 659                                 /* copy coordinates of point to temporary vector, then add to find average */
 660                                 if (co)
 661                                         memcpy(tvec, co, 3*sizeof(float));
 662                                 else
 663                                         memcpy(tvec, bp->vec, 3*sizeof(float));
 664
 665                                 VecAddf(vec, vec, tvec);
 666                                 grouped++;
 667
 668                                 break;
 669                         }
 670                 }
 671
 672                 /* advance pointer to coordinate data */
 673                 if (co) co+= 3;
 674                 else bp++;
 675         }
 676
 677         /* find average location, then multiply by ob->obmat to find world-space location */
 678         if (grouped)
 679                 VecMulf(vec, 1.0f / grouped);
 680         VecMat4MulVecfl(tvec, ob->obmat, vec);
 681
 682         /* copy new location to matrix */
 683         VECCOPY(mat[3], tvec);
 684 }
 685
 686 /* generic function to get the appropriate matrix for most target cases */
 687 /* The cases where the target can be object data have not been implemented */
 688 static void constraint_target_to_mat4 (Object *ob, char *substring, float mat[][4], short from, short to, float headtail)
 689 {
 690         /*      Case OBJECT */
 691         if (!strlen(substring)) {
 692                 Mat4CpyMat4(mat, ob->obmat);
 693                 constraint_mat_convertspace(ob, NULL, mat, from, to);
 694         }
 695         /*      Case VERTEXGROUP */
 696         /* Current method just takes the average location of all the points in the
 697          * VertexGroup, and uses that as the location value of the targets. Where
 698          * possible, the orientation will also be calculated, by calculating an
 699          * 'average' vertex normal, and deriving the rotaation from that.
 700          *
 701          * NOTE: EditMode is not currently supported, and will most likely remain that
 702          *              way as constraints can only really affect things on object/bone level.
 703          */
 704         else if (ob->type == OB_MESH) {
 705                 contarget_get_mesh_mat(ob, substring, mat);
 706                 constraint_mat_convertspace(ob, NULL, mat, from, to);
 707         }
 708         else if (ob->type == OB_LATTICE) {
 709                 contarget_get_lattice_mat(ob, substring, mat);
 710                 constraint_mat_convertspace(ob, NULL, mat, from, to);
 711         }
 712         /*      Case BONE */
 713         else {
 714                 bPoseChannel *pchan;
 715
 716                 pchan = get_pose_channel(ob->pose, substring);
 717                 if (pchan) {
 718                         /* Multiply the PoseSpace accumulation/final matrix for this
 719                          * PoseChannel by the Armature Object's Matrix to get a worldspace
 720                          * matrix.
 721                          */
 722                         if (headtail < 0.000001) {
 723                                 /* skip length interpolation if set to head */
 724                                 Mat4MulMat4(mat, pchan->pose_mat, ob->obmat);
 725                         }
 726                         else {
 727                                 float tempmat[4][4], loc[3];
 728
 729                                 /* interpolate along length of bone */
 730                                 VecLerpf(loc, pchan->pose_head, pchan->pose_tail, headtail);
 731
 732                                 /* use interpolated distance for subtarget */
 733                                 Mat4CpyMat4(tempmat, pchan->pose_mat);
 734                                 VecCopyf(tempmat[3], loc);
 735
 736                                 Mat4MulMat4(mat, tempmat, ob->obmat);
 737                         }
 738                 }
 739                 else
 740                         Mat4CpyMat4(mat, ob->obmat);
 741
 742                 /* convert matrix space as required */
 743                 constraint_mat_convertspace(ob, pchan, mat, from, to);
 744         }
 745 }
 746
 747 /* ************************* Specific Constraints ***************************** */
 748 /* Each constraint defines a set of functions, which will be called at the appropriate
 749  * times. In addition to this, each constraint should have a type-info struct, where
 750  * its functions are attached for use.
 751  */
 752
 753 /* Template for type-info data:
 754  *      - make a copy of this when creating new constraints, and just change the functions
 755  *        pointed to as necessary
 756  *      - although the naming of functions doesn't matter, it would help for code
 757  *        readability, to follow the same naming convention as is presented here
 758  *      - any functions that a constraint doesn't need to define, don't define
 759  *        for such cases, just use NULL
 760  *      - these should be defined after all the functions have been defined, so that
 761  *        forward-definitions/prototypes don't need to be used!
 762  *      - keep this copy #if-def'd so that future constraints can get based off this
 763  */
 764 #if 0
 765 static bConstraintTypeInfo CTI_CONSTRNAME = {
 766         CONSTRAINT_TYPE_CONSTRNAME, /* type */
 767         sizeof(bConstrNameConstraint), /* size */
 768         "ConstrName", /* name */
 769         "bConstrNameConstraint", /* struct name */
 770         constrname_free, /* free data */
 771         constrname_relink, /* relink data */
 772         constrname_copy, /* copy data */
 773         constrname_new_data, /* new data */
 774         constrname_get_tars, /* get constraint targets */
 775         constrname_flush_tars, /* flush constraint targets */
 776         constrname_get_tarmat, /* get target matrix */
 777         constrname_evaluate /* evaluate */
 778 };
 779 #endif
 780
 781 /* This function should be used for the get_target_matrix member of all
 782  * constraints that are not picky about what happens to their target matrix.
 783  */
 784 static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstraintTarget *ct, float ctime)
 785 {
 786         if (VALID_CONS_TARGET(ct))
 787                 constraint_target_to_mat4(ct->tar, ct->subtarget, ct->matrix, CONSTRAINT_SPACE_WORLD, ct->space, con->headtail);
 788         else if (ct)
 789                 Mat4One(ct->matrix);
 790 }
 791
 792 /* This following macro should be used for all standard single-target *_get_tars functions
 793  * to save typing and reduce maintainance woes.
 794  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
 795  *  really just to help this code easier to read)
 796  */
 797 #define SINGLETARGET_GET_TARS(con, datatar, datasubtarget, ct, list) \
 798         { \
 799                 ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 800                  \
 801                 ct->tar= datatar; \
 802                 strcpy(ct->subtarget, datasubtarget); \
 803                 ct->space= con->tarspace; \
 804                 ct->flag= CONSTRAINT_TAR_TEMP; \
 805                  \
 806                 if (ct->tar) { \
 807                         if ((ct->tar->type==OB_ARMATURE) && (ct->subtarget[0])) ct->type = CONSTRAINT_OBTYPE_BONE; \
 808                         else if (ELEM(ct->tar->type, OB_MESH, OB_LATTICE) && (ct->subtarget[0])) ct->type = CONSTRAINT_OBTYPE_VERT; \
 809                         else ct->type = CONSTRAINT_OBTYPE_OBJECT; \
 810                 } \
 811                  \
 812                 BLI_addtail(list, ct); \
 813         }
 814
 815 /* This following macro should be used for all standard single-target *_get_tars functions
 816  * to save typing and reduce maintainance woes. It does not do the subtarget related operations
 817  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
 818  *  really just to help this code easier to read)
 819  */
 820 #define SINGLETARGETNS_GET_TARS(con, datatar, ct, list) \
 821         { \
 822                 ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 823                  \
 824                 ct->tar= datatar; \
 825                 ct->space= con->tarspace; \
 826                 ct->flag= CONSTRAINT_TAR_TEMP; \
 827                  \
 828                 if (ct->tar) ct->type = CONSTRAINT_OBTYPE_OBJECT; \
 829                  \
 830                 BLI_addtail(list, ct); \
 831         }
 832
 833 /* This following macro should be used for all standard single-target *_flush_tars functions
 834  * to save typing and reduce maintainance woes.
 835  * Note: the pointer to ct will be changed to point to the next in the list (as it gets removed)
 836  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
 837  *  really just to help this code easier to read)
 838  */
 839 #define SINGLETARGET_FLUSH_TARS(con, datatar, datasubtarget, ct, list, nocopy) \
 840         { \
 841                 if (ct) { \
 842                         bConstraintTarget *ctn = ct->next; \
 843                         if (nocopy == 0) { \
 844                                 datatar= ct->tar; \
 845                                 strcpy(datasubtarget, ct->subtarget); \
 846                                 con->tarspace= (char)ct->space; \
 847                         } \
 848                          \
 849                         BLI_freelinkN(list, ct); \
 850                         ct= ctn; \
 851                 } \
 852         }
 853
 854 /* This following macro should be used for all standard single-target *_flush_tars functions
 855  * to save typing and reduce maintainance woes. It does not do the subtarget related operations.
 856  * Note: the pointer to ct will be changed to point to the next in the list (as it gets removed)
 857  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
 858  *  really just to help this code easier to read)
 859  */
 860 #define SINGLETARGETNS_FLUSH_TARS(con, datatar, ct, list, nocopy) \
 861         { \
 862                 if (ct) { \
 863                         bConstraintTarget *ctn = ct->next; \
 864                         if (nocopy == 0) { \
 865                                 datatar= ct->tar; \
 866                                 con->tarspace= (char)ct->space; \
 867                         } \
 868                          \
 869                         BLI_freelinkN(list, ct); \
 870                         ct= ctn; \
 871                 } \
 872         }
 873
 874 /* --------- ChildOf Constraint ------------ */
 875
 876 static void childof_new_data (void *cdata)
 877 {
 878         bChildOfConstraint *data= (bChildOfConstraint *)cdata;
 879
 880         data->flag = (CHILDOF_LOCX | CHILDOF_LOCY | CHILDOF_LOCZ |
 881                                         CHILDOF_ROTX |CHILDOF_ROTY | CHILDOF_ROTZ |
 882                                         CHILDOF_SIZEX | CHILDOF_SIZEY | CHILDOF_SIZEZ);
 883         Mat4One(data->invmat);
 884 }
 885
 886 static int childof_get_tars (bConstraint *con, ListBase *list)
 887 {
 888         if (con && list) {
 889                 bChildOfConstraint *data= con->data;
 890                 bConstraintTarget *ct;
 891
 892                 /* standard target-getting macro for single-target constraints */
 893                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 894
 895                 return 1;
 896         }
 897
 898         return 0;
 899 }
 900
 901 static void childof_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 902 {
 903         if (con && list) {
 904                 bChildOfConstraint *data= con->data;
 905                 bConstraintTarget *ct= list->first;
 906
 907                 /* the following macro is used for all standard single-target constraints */
 908                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 909         }
 910 }
 911
 912 static void childof_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
 913 {
 914         bChildOfConstraint *data= con->data;
 915         bConstraintTarget *ct= targets->first;
 916
 917         /* only evaluate if there is a target */
 918         if (VALID_CONS_TARGET(ct)) {
 919                 float parmat[4][4], invmat[4][4], tempmat[4][4];
 920                 float loc[3], eul[3], size[3];
 921                 float loco[3], eulo[3], sizo[3];
 922
 923                 /* get offset (parent-inverse) matrix */
 924                 Mat4CpyMat4(invmat, data->invmat);
 925
 926                 /* extract components of both matrices */
 927                 VECCOPY(loc, ct->matrix[3]);
 928                 Mat4ToEul(ct->matrix, eul);
 929                 Mat4ToSize(ct->matrix, size);
 930
 931                 VECCOPY(loco, invmat[3]);
 932                 Mat4ToEul(invmat, eulo);
 933                 Mat4ToSize(invmat, sizo);
 934
 935                 /* disable channels not enabled */
 936                 if (!(data->flag & CHILDOF_LOCX)) loc[0]= loco[0]= 0.0f;
 937                 if (!(data->flag & CHILDOF_LOCY)) loc[1]= loco[1]= 0.0f;
 938                 if (!(data->flag & CHILDOF_LOCZ)) loc[2]= loco[2]= 0.0f;
 939                 if (!(data->flag & CHILDOF_ROTX)) eul[0]= eulo[0]= 0.0f;
 940                 if (!(data->flag & CHILDOF_ROTY)) eul[1]= eulo[1]= 0.0f;
 941                 if (!(data->flag & CHILDOF_ROTZ)) eul[2]= eulo[2]= 0.0f;
 942                 if (!(data->flag & CHILDOF_SIZEX)) size[0]= sizo[0]= 1.0f;
 943                 if (!(data->flag & CHILDOF_SIZEY)) size[1]= sizo[1]= 1.0f;
 944                 if (!(data->flag & CHILDOF_SIZEZ)) size[2]= sizo[2]= 1.0f;
 945
 946                 /* make new target mat and offset mat */
 947                 LocEulSizeToMat4(ct->matrix, loc, eul, size);
 948                 LocEulSizeToMat4(invmat, loco, eulo, sizo);
 949
 950                 /* multiply target (parent matrix) by offset (parent inverse) to get
 951                  * the effect of the parent that will be exherted on the owner
 952                  */
 953                 Mat4MulMat4(parmat, invmat, ct->matrix);
 954
 955                 /* now multiply the parent matrix by the owner matrix to get the
 956                  * the effect of this constraint (i.e.  owner is 'parented' to parent)
 957                  */
 958                 Mat4CpyMat4(tempmat, cob->matrix);
 959                 Mat4MulMat4(cob->matrix, tempmat, parmat);
 960         }
 961 }
 962
 963 static bConstraintTypeInfo CTI_CHILDOF = {
 964         CONSTRAINT_TYPE_CHILDOF, /* type */
 965         sizeof(bChildOfConstraint), /* size */
 966         "ChildOf", /* name */
 967         "bChildOfConstraint", /* struct name */
 968         NULL, /* free data */
 969         NULL, /* relink data */
 970         NULL, /* copy data */
 971         childof_new_data, /* new data */
 972         childof_get_tars, /* get constraint targets */
 973         childof_flush_tars, /* flush constraint targets */
 974         default_get_tarmat, /* get a target matrix */
 975         childof_evaluate /* evaluate */
 976 };
 977
 978 /* -------- TrackTo Constraint ------- */
 979
 980 static void trackto_new_data (void *cdata)
 981 {
 982         bTrackToConstraint *data= (bTrackToConstraint *)cdata;
 983
 984         data->reserved1 = TRACK_Y;
 985         data->reserved2 = UP_Z;
 986 }
 987
 988 static int trackto_get_tars (bConstraint *con, ListBase *list)
 989 {
 990         if (con && list) {
 991                 bTrackToConstraint *data= con->data;
 992                 bConstraintTarget *ct;
 993
 994                 /* standard target-getting macro for single-target constraints */
 995                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 996
 997                 return 1;
 998         }
 999
1000         return 0;
1001 }
1002
1003 static void trackto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1004 {
1005         if (con && list) {
1006                 bTrackToConstraint *data= con->data;
1007                 bConstraintTarget *ct= list->first;
1008
1009                 /* the following macro is used for all standard single-target constraints */
1010                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1011         }
1012 }
1013
1014
1015 static int basis_cross (int n, int m)
1016 {
1017         switch (n-m) {
1018                 case 1:
1019                 case -2:
1020                         return 1;
1021
1022                 case -1:
1023                 case 2:
1024                         return -1;
1025
1026                 default:
1027                         return 0;
1028         }
1029 }
1030
1031 static void vectomat (float *vec, float *target_up, short axis, short upflag, short flags, float m[][3])
1032 {
1033         float n[3];
1034         float u[3]; /* vector specifying the up axis */
1035         float proj[3];
1036         float right[3];
1037         float neg = -1;
1038         int right_index;
1039
1040         VecCopyf(n, vec);
1041         if (Normalize(n) == 0.0) {
1042                 n[0] = 0.0;
1043                 n[1] = 0.0;
1044                 n[2] = 1.0;
1045         }
1046         if (axis > 2) axis -= 3;
1047         else VecMulf(n,-1);
1048
1049         /* n specifies the transformation of the track axis */
1050         if (flags & TARGET_Z_UP) {
1051                 /* target Z axis is the global up axis */
1052                 u[0] = target_up[0];
1053                 u[1] = target_up[1];
1054                 u[2] = target_up[2];
1055         }
1056         else {
1057                 /* world Z axis is the global up axis */
1058                 u[0] = 0;
1059                 u[1] = 0;
1060                 u[2] = 1;
1061         }
1062
1063         /* project the up vector onto the plane specified by n */
1064         Projf(proj, u, n); /* first u onto n... */
1065         VecSubf(proj, u, proj); /* then onto the plane */
1066         /* proj specifies the transformation of the up axis */
1067
1068         if (Normalize(proj) == 0.0) { /* degenerate projection */
1069                 proj[0] = 0.0;
1070                 proj[1] = 1.0;
1071                 proj[2] = 0.0;
1072         }
1073
1074         /* Normalized cross product of n and proj specifies transformation of the right axis */
1075         Crossf(right, proj, n);
1076         Normalize(right);
1077
1078         if (axis != upflag) {
1079                 right_index = 3 - axis - upflag;
1080                 neg = (float)basis_cross(axis, upflag);
1081
1082                 /* account for up direction, track direction */
1083                 m[right_index][0] = neg * right[0];
1084                 m[right_index][1] = neg * right[1];
1085                 m[right_index][2] = neg * right[2];
1086
1087                 m[upflag][0] = proj[0];
1088                 m[upflag][1] = proj[1];
1089                 m[upflag][2] = proj[2];
1090
1091                 m[axis][0] = n[0];
1092                 m[axis][1] = n[1];
1093                 m[axis][2] = n[2];
1094         }
1095         /* identity matrix - don't do anything if the two axes are the same */
1096         else {
1097                 m[0][0]= m[1][1]= m[2][2]= 1.0;
1098                 m[0][1]= m[0][2]= 0.0;
1099                 m[1][0]= m[1][2]= 0.0;
1100                 m[2][0]= m[2][1]= 0.0;
1101         }
1102 }
1103
1104
1105 static void trackto_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1106 {
1107         bTrackToConstraint *data= con->data;
1108         bConstraintTarget *ct= targets->first;
1109
1110         if (VALID_CONS_TARGET(ct)) {
1111                 float size[3], vec[3];
1112                 float totmat[3][3];
1113                 float tmat[4][4];
1114
1115                 /* Get size property, since ob->size is only the object's own relative size, not its global one */
1116                 Mat4ToSize(cob->matrix, size);
1117
1118                 /* Clear the object's rotation */
1119                 cob->matrix[0][0]=size[0];
1120                 cob->matrix[0][1]=0;
1121                 cob->matrix[0][2]=0;
1122                 cob->matrix[1][0]=0;
1123                 cob->matrix[1][1]=size[1];
1124                 cob->matrix[1][2]=0;
1125                 cob->matrix[2][0]=0;
1126                 cob->matrix[2][1]=0;
1127                 cob->matrix[2][2]=size[2];
1128
1129                 /* targetmat[2] instead of ownermat[2] is passed to vectomat
1130                  * for backwards compatability it seems... (Aligorith)
1131                  */
1132                 VecSubf(vec, cob->matrix[3], ct->matrix[3]);
1133                 vectomat(vec, ct->matrix[2],
1134                                 (short)data->reserved1, (short)data->reserved2,
1135                                 data->flags, totmat);
1136
1137                 Mat4CpyMat4(tmat, cob->matrix);
1138                 Mat4MulMat34(cob->matrix, totmat, tmat);
1139         }
1140 }
1141
1142 static bConstraintTypeInfo CTI_TRACKTO = {
1143         CONSTRAINT_TYPE_TRACKTO, /* type */
1144         sizeof(bTrackToConstraint), /* size */
1145         "TrackTo", /* name */
1146         "bTrackToConstraint", /* struct name */
1147         NULL, /* free data */
1148         NULL, /* relink data */
1149         NULL, /* copy data */
1150         trackto_new_data, /* new data */
1151         trackto_get_tars, /* get constraint targets */
1152         trackto_flush_tars, /* flush constraint targets */
1153         default_get_tarmat, /* get target matrix */
1154         trackto_evaluate /* evaluate */
1155 };
1156
1157 /* --------- Inverse-Kinemetics --------- */
1158
1159 static void kinematic_new_data (void *cdata)
1160 {
1161         bKinematicConstraint *data= (bKinematicConstraint *)cdata;
1162
1163         data->weight= (float)1.0;
1164         data->orientweight= (float)1.0;
1165         data->iterations = 500;
1166         data->flag= CONSTRAINT_IK_TIP|CONSTRAINT_IK_STRETCH|CONSTRAINT_IK_POS;
1167 }
1168
1169 static int kinematic_get_tars (bConstraint *con, ListBase *list)
1170 {
1171         if (con && list) {
1172                 bKinematicConstraint *data= con->data;
1173                 bConstraintTarget *ct;
1174
1175                 /* standard target-getting macro for single-target constraints is used twice here */
1176                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
1177                 SINGLETARGET_GET_TARS(con, data->poletar, data->polesubtarget, ct, list)
1178
1179                 return 2;
1180         }
1181
1182         return 0;
1183 }
1184
1185 static void kinematic_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1186 {
1187         if (con && list) {
1188                 bKinematicConstraint *data= con->data;
1189                 bConstraintTarget *ct= list->first;
1190
1191                 /* the following macro is used for all standard single-target constraints */
1192                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1193                 SINGLETARGET_FLUSH_TARS(con, data->poletar, data->polesubtarget, ct, list, nocopy)
1194         }
1195 }
1196
1197 static void kinematic_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstraintTarget *ct, float ctime)
1198 {
1199         bKinematicConstraint *data= con->data;
1200
1201         if (VALID_CONS_TARGET(ct))
1202                 constraint_target_to_mat4(ct->tar, ct->subtarget, ct->matrix, CONSTRAINT_SPACE_WORLD, ct->space, con->headtail);
1203         else if (ct) {
1204                 if (data->flag & CONSTRAINT_IK_AUTO) {
1205                         Object *ob= cob->ob;
1206
1207                         if (ob == NULL) {
1208                                 Mat4One(ct->matrix);
1209                         }
1210                         else {
1211                                 float vec[3];
1212                                 /* move grabtarget into world space */
1213                                 VECCOPY(vec, data->grabtarget);
1214                                 Mat4MulVecfl(ob->obmat, vec);
1215                                 Mat4CpyMat4(ct->matrix, ob->obmat);
1216                                 VECCOPY(ct->matrix[3], vec);
1217                         }
1218                 }
1219                 else
1220                         Mat4One(ct->matrix);
1221         }
1222 }
1223
1224 static bConstraintTypeInfo CTI_KINEMATIC = {
1225         CONSTRAINT_TYPE_KINEMATIC, /* type */
1226         sizeof(bKinematicConstraint), /* size */
1227         "IK", /* name */
1228         "bKinematicConstraint", /* struct name */
1229         NULL, /* free data */
1230         NULL, /* relink data */
1231         NULL, /* copy data */
1232         kinematic_new_data, /* new data */
1233         kinematic_get_tars, /* get constraint targets */
1234         kinematic_flush_tars, /* flush constraint targets */
1235         kinematic_get_tarmat, /* get target matrix */
1236         NULL /* evaluate - solved as separate loop */
1237 };
1238
1239 /* -------- Follow-Path Constraint ---------- */
1240
1241 static void followpath_new_data (void *cdata)
1242 {
1243         bFollowPathConstraint *data= (bFollowPathConstraint *)cdata;
1244
1245         data->trackflag = TRACK_Y;
1246         data->upflag = UP_Z;
1247         data->offset = 0;
1248         data->followflag = 0;
1249 }
1250
1251 static int followpath_get_tars (bConstraint *con, ListBase *list)
1252 {
1253         if (con && list) {
1254                 bFollowPathConstraint *data= con->data;
1255                 bConstraintTarget *ct;
1256
1257                 /* standard target-getting macro for single-target constraints without subtargets */
1258                 SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
1259
1260                 return 1;
1261         }
1262
1263         return 0;
1264 }
1265
1266 static void followpath_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1267 {
1268         if (con && list) {
1269                 bFollowPathConstraint *data= con->data;
1270                 bConstraintTarget *ct= list->first;
1271
1272                 /* the following macro is used for all standard single-target constraints */
1273                 SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
1274         }
1275 }
1276
1277 static void followpath_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstraintTarget *ct, float ctime)
1278 {
1279         bFollowPathConstraint *data= con->data;
1280
1281         if (VALID_CONS_TARGET(ct)) {
1282                 Curve *cu= ct->tar->data;
1283                 float q[4], vec[4], dir[3], quat[4], x1;
1284                 float totmat[4][4];
1285                 float curvetime;
1286
1287                 Mat4One(totmat);
1288                 Mat4One(ct->matrix);
1289
1290                 /* note: when creating constraints that follow path, the curve gets the CU_PATH set now,
1291                  *              currently for paths to work it needs to go through the bevlist/displist system (ton)
1292                  */
1293
1294                 /* only happens on reload file, but violates depsgraph still... fix! */
1295                 if (cu->path==NULL || cu->path->data==NULL)
1296                         makeDispListCurveTypes(ct->tar, 0);
1297
1298                 if (cu->path && cu->path->data) {
1299                         curvetime= bsystem_time(ct->tar, (float)ctime, 0.0) - data->offset;
1300
1301                         if (calc_ipo_spec(cu->ipo, CU_SPEED, &curvetime)==0) {
1302                                 curvetime /= cu->pathlen;
1303                                 CLAMP(curvetime, 0.0, 1.0);
1304                         }
1305
1306                         if ( where_on_path(ct->tar, curvetime, vec, dir) ) {
1307                                 if (data->followflag) {
1308                                         vectoquat(dir, (short) data->trackflag, (short) data->upflag, quat);
1309
1310                                         Normalize(dir);
1311                                         q[0]= (float)cos(0.5*vec[3]);
1312                                         x1= (float)sin(0.5*vec[3]);
1313                                         q[1]= -x1*dir[0];
1314                                         q[2]= -x1*dir[1];
1315                                         q[3]= -x1*dir[2];
1316                                         QuatMul(quat, q, quat);
1317
1318                                         QuatToMat4(quat, totmat);
1319                                 }
1320                                 VECCOPY(totmat[3], vec);
1321
1322                                 Mat4MulSerie(ct->matrix, ct->tar->obmat, totmat, NULL, NULL, NULL, NULL, NULL, NULL);
1323                         }
1324                 }
1325         }
1326         else if (ct)
1327                 Mat4One(ct->matrix);
1328 }
1329
1330 static void followpath_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1331 {
1332         bConstraintTarget *ct= targets->first;
1333
1334         /* only evaluate if there is a target */
1335         if (VALID_CONS_TARGET(ct)) {
1336                 float obmat[4][4];
1337                 float size[3], obsize[3];
1338
1339                 /* get Object local transform (loc/rot/size) to determine transformation from path */
1340                 //object_to_mat4(ob, obmat);
1341                 Mat4CpyMat4(obmat, cob->matrix); // FIXME!!!
1342
1343                 /* get scaling of object before applying constraint */
1344                 Mat4ToSize(cob->matrix, size);
1345
1346                 /* apply targetmat - containing location on path, and rotation */
1347                 Mat4MulSerie(cob->matrix, ct->matrix, obmat, NULL, NULL, NULL, NULL, NULL, NULL);
1348
1349                 /* un-apply scaling caused by path */
1350                 Mat4ToSize(cob->matrix, obsize);
1351                 if (obsize[0])
1352                         VecMulf(cob->matrix[0], size[0] / obsize[0]);
1353                 if (obsize[1])
1354                         VecMulf(cob->matrix[1], size[1] / obsize[1]);
1355                 if (obsize[2])
1356                         VecMulf(cob->matrix[2], size[2] / obsize[2]);
1357         }
1358 }
1359
1360 static bConstraintTypeInfo CTI_FOLLOWPATH = {
1361         CONSTRAINT_TYPE_FOLLOWPATH, /* type */
1362         sizeof(bFollowPathConstraint), /* size */
1363         "Follow Path", /* name */
1364         "bFollowPathConstraint", /* struct name */
1365         NULL, /* free data */
1366         NULL, /* relink data */
1367         NULL, /* copy data */
1368         followpath_new_data, /* new data */
1369         followpath_get_tars, /* get constraint targets */
1370         followpath_flush_tars, /* flush constraint targets */
1371         followpath_get_tarmat, /* get target matrix */
1372         followpath_evaluate /* evaluate */
1373 };
1374
1375 /* --------- Limit Location --------- */
1376
1377
1378 static void loclimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1379 {
1380         bLocLimitConstraint *data = con->data;
1381
1382         if (data->flag & LIMIT_XMIN) {
1383                 if (cob->matrix[3][0] < data->xmin)
1384                         cob->matrix[3][0] = data->xmin;
1385         }
1386         if (data->flag & LIMIT_XMAX) {
1387                 if (cob->matrix[3][0] > data->xmax)
1388                         cob->matrix[3][0] = data->xmax;
1389         }
1390         if (data->flag & LIMIT_YMIN) {
1391                 if (cob->matrix[3][1] < data->ymin)
1392                         cob->matrix[3][1] = data->ymin;
1393         }
1394         if (data->flag & LIMIT_YMAX) {
1395                 if (cob->matrix[3][1] > data->ymax)
1396                         cob->matrix[3][1] = data->ymax;
1397         }
1398         if (data->flag & LIMIT_ZMIN) {
1399                 if (cob->matrix[3][2] < data->zmin)
1400                         cob->matrix[3][2] = data->zmin;
1401         }
1402         if (data->flag & LIMIT_ZMAX) {
1403                 if (cob->matrix[3][2] > data->zmax)
1404                         cob->matrix[3][2] = data->zmax;
1405         }
1406 }
1407
1408 static bConstraintTypeInfo CTI_LOCLIMIT = {
1409         CONSTRAINT_TYPE_LOCLIMIT, /* type */
1410         sizeof(bLocLimitConstraint), /* size */
1411         "Limit Location", /* name */
1412         "bLocLimitConstraint", /* struct name */
1413         NULL, /* free data */
1414         NULL, /* relink data */
1415         NULL, /* copy data */
1416         NULL, /* new data */
1417         NULL, /* get constraint targets */
1418         NULL, /* flush constraint targets */
1419         NULL, /* get target matrix */
1420         loclimit_evaluate /* evaluate */
1421 };
1422
1423 /* -------- Limit Rotation --------- */
1424
1425 static void rotlimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1426 {
1427         bRotLimitConstraint *data = con->data;
1428         float loc[3];
1429         float eul[3];
1430         float size[3];
1431
1432         VECCOPY(loc, cob->matrix[3]);
1433         Mat4ToSize(cob->matrix, size);
1434
1435         Mat4ToEul(cob->matrix, eul);
1436
1437         /* eulers: radians to degrees! */
1438         eul[0] = (float)(eul[0] / M_PI * 180);
1439         eul[1] = (float)(eul[1] / M_PI * 180);
1440         eul[2] = (float)(eul[2] / M_PI * 180);
1441
1442         /* limiting of euler values... */
1443         if (data->flag & LIMIT_XROT) {
1444                 if (eul[0] < data->xmin)
1445                         eul[0] = data->xmin;
1446
1447                 if (eul[0] > data->xmax)
1448                         eul[0] = data->xmax;
1449         }
1450         if (data->flag & LIMIT_YROT) {
1451                 if (eul[1] < data->ymin)
1452                         eul[1] = data->ymin;
1453
1454                 if (eul[1] > data->ymax)
1455                         eul[1] = data->ymax;
1456         }
1457         if (data->flag & LIMIT_ZROT) {
1458                 if (eul[2] < data->zmin)
1459                         eul[2] = data->zmin;
1460
1461                 if (eul[2] > data->zmax)
1462                         eul[2] = data->zmax;
1463         }
1464
1465         /* eulers: degrees to radians ! */
1466         eul[0] = (float)(eul[0] / 180 * M_PI);
1467         eul[1] = (float)(eul[1] / 180 * M_PI);
1468         eul[2] = (float)(eul[2] / 180 * M_PI);
1469
1470         LocEulSizeToMat4(cob->matrix, loc, eul, size);
1471 }
1472
1473 static bConstraintTypeInfo CTI_ROTLIMIT = {
1474         CONSTRAINT_TYPE_ROTLIMIT, /* type */
1475         sizeof(bRotLimitConstraint), /* size */
1476         "Limit Rotation", /* name */
1477         "bRotLimitConstraint", /* struct name */
1478         NULL, /* free data */
1479         NULL, /* relink data */
1480         NULL, /* copy data */
1481         NULL, /* new data */
1482         NULL, /* get constraint targets */
1483         NULL, /* flush constraint targets */
1484         NULL, /* get target matrix */
1485         rotlimit_evaluate /* evaluate */
1486 };
1487
1488 /* --------- Limit Scaling --------- */
1489
1490
1491 static void sizelimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1492 {
1493         bSizeLimitConstraint *data = con->data;
1494         float obsize[3], size[3];
1495
1496         Mat4ToSize(cob->matrix, size);
1497         Mat4ToSize(cob->matrix, obsize);
1498
1499         if (data->flag & LIMIT_XMIN) {
1500                 if (size[0] < data->xmin)
1501                         size[0] = data->xmin;
1502         }
1503         if (data->flag & LIMIT_XMAX) {
1504                 if (size[0] > data->xmax)
1505                         size[0] = data->xmax;
1506         }
1507         if (data->flag & LIMIT_YMIN) {
1508                 if (size[1] < data->ymin)
1509                         size[1] = data->ymin;
1510         }
1511         if (data->flag & LIMIT_YMAX) {
1512                 if (size[1] > data->ymax)
1513                         size[1] = data->ymax;
1514         }
1515         if (data->flag & LIMIT_ZMIN) {
1516                 if (size[2] < data->zmin)
1517                         size[2] = data->zmin;
1518         }
1519         if (data->flag & LIMIT_ZMAX) {
1520                 if (size[2] > data->zmax)
1521                         size[2] = data->zmax;
1522         }
1523
1524         if (obsize[0])
1525                 VecMulf(cob->matrix[0], size[0]/obsize[0]);
1526         if (obsize[1])
1527                 VecMulf(cob->matrix[1], size[1]/obsize[1]);
1528         if (obsize[2])
1529                 VecMulf(cob->matrix[2], size[2]/obsize[2]);
1530 }
1531
1532 static bConstraintTypeInfo CTI_SIZELIMIT = {
1533         CONSTRAINT_TYPE_SIZELIMIT, /* type */
1534         sizeof(bSizeLimitConstraint), /* size */
1535         "Limit Scaling", /* name */
1536         "bSizeLimitConstraint", /* struct name */
1537         NULL, /* free data */
1538         NULL, /* relink data */
1539         NULL, /* copy data */
1540         NULL, /* new data */
1541         NULL, /* get constraint targets */
1542         NULL, /* flush constraint targets */
1543         NULL, /* get target matrix */
1544         sizelimit_evaluate /* evaluate */
1545 };
1546
1547 /* ----------- Copy Location ------------- */
1548
1549 static void loclike_new_data (void *cdata)
1550 {
1551         bLocateLikeConstraint *data= (bLocateLikeConstraint *)cdata;
1552
1553         data->flag = LOCLIKE_X|LOCLIKE_Y|LOCLIKE_Z;
1554 }
1555
1556 static int loclike_get_tars (bConstraint *con, ListBase *list)
1557 {
1558         if (con && list) {
1559                 bLocateLikeConstraint *data= con->data;
1560                 bConstraintTarget *ct;
1561
1562                 /* standard target-getting macro for single-target constraints */
1563                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
1564
1565                 return 1;
1566         }
1567
1568         return 0;
1569 }
1570
1571 static void loclike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1572 {
1573         if (con && list) {
1574                 bLocateLikeConstraint *data= con->data;
1575                 bConstraintTarget *ct= list->first;
1576
1577                 /* the following macro is used for all standard single-target constraints */
1578                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1579         }
1580 }
1581
1582 static void loclike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1583 {
1584         bLocateLikeConstraint *data= con->data;
1585         bConstraintTarget *ct= targets->first;
1586
1587         if (VALID_CONS_TARGET(ct)) {
1588                 float offset[3] = {0.0f, 0.0f, 0.0f};
1589
1590                 if (data->flag & LOCLIKE_OFFSET)
1591                         VECCOPY(offset, cob->matrix[3]);
1592
1593                 if (data->flag & LOCLIKE_X) {
1594                         cob->matrix[3][0] = ct->matrix[3][0];
1595
1596                         if (data->flag & LOCLIKE_X_INVERT) cob->matrix[3][0] *= -1;
1597                         cob->matrix[3][0] += offset[0];
1598                 }
1599                 if (data->flag & LOCLIKE_Y) {
1600                         cob->matrix[3][1] = ct->matrix[3][1];
1601
1602                         if (data->flag & LOCLIKE_Y_INVERT) cob->matrix[3][1] *= -1;
1603                         cob->matrix[3][1] += offset[1];
1604                 }
1605                 if (data->flag & LOCLIKE_Z) {
1606                         cob->matrix[3][2] = ct->matrix[3][2];
1607
1608                         if (data->flag & LOCLIKE_Z_INVERT) cob->matrix[3][2] *= -1;
1609                         cob->matrix[3][2] += offset[2];
1610                 }
1611         }
1612 }
1613
1614 static bConstraintTypeInfo CTI_LOCLIKE = {
1615         CONSTRAINT_TYPE_LOCLIKE, /* type */
1616         sizeof(bLocateLikeConstraint), /* size */
1617         "Copy Location", /* name */
1618         "bLocateLikeConstraint", /* struct name */
1619         NULL, /* free data */
1620         NULL, /* relink data */
1621         NULL, /* copy data */
1622         loclike_new_data, /* new data */
1623         loclike_get_tars, /* get constraint targets */
1624         loclike_flush_tars, /* flush constraint targets */
1625         default_get_tarmat, /* get target matrix */
1626         loclike_evaluate /* evaluate */
1627 };
1628
1629 /* ----------- Copy Rotation ------------- */
1630
1631 static void rotlike_new_data (void *cdata)
1632 {
1633         bRotateLikeConstraint *data= (bRotateLikeConstraint *)cdata;
1634
1635         data->flag = ROTLIKE_X|ROTLIKE_Y|ROTLIKE_Z;
1636 }
1637
1638 static int rotlike_get_tars (bConstraint *con, ListBase *list)
1639 {
1640         if (con && list) {
1641                 bRotateLikeConstraint *data= con->data;
1642                 bConstraintTarget *ct;
1643
1644                 /* standard target-getting macro for single-target constraints */
1645                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
1646
1647                 return 1;
1648         }
1649
1650         return 0;
1651 }
1652
1653 static void rotlike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1654 {
1655         if (con && list) {
1656                 bRotateLikeConstraint *data= con->data;
1657                 bConstraintTarget *ct= list->first;
1658
1659                 /* the following macro is used for all standard single-target constraints */
1660                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1661         }
1662 }
1663
1664 static void rotlike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1665 {
1666         bRotateLikeConstraint *data= con->data;
1667         bConstraintTarget *ct= targets->first;
1668
1669         if (VALID_CONS_TARGET(ct)) {
1670                 float   loc[3];
1671                 float   eul[3], obeul[3];
1672                 float   size[3];
1673
1674                 VECCOPY(loc, cob->matrix[3]);
1675                 Mat4ToSize(cob->matrix, size);
1676
1677                 Mat4ToEul(ct->matrix, eul);
1678                 Mat4ToEul(cob->matrix, obeul);
1679
1680                 if ((data->flag & ROTLIKE_X)==0)
1681                         eul[0] = obeul[0];
1682                 else {
1683                         if (data->flag & ROTLIKE_OFFSET)
1684                                 euler_rot(eul, obeul[0], 'x');
1685
1686                         if (data->flag & ROTLIKE_X_INVERT)
1687                                 eul[0] *= -1;
1688                 }
1689
1690                 if ((data->flag & ROTLIKE_Y)==0)
1691                         eul[1] = obeul[1];
1692                 else {
1693                         if (data->flag & ROTLIKE_OFFSET)
1694                                 euler_rot(eul, obeul[1], 'y');
1695
1696                         if (data->flag & ROTLIKE_Y_INVERT)
1697                                 eul[1] *= -1;
1698                 }
1699
1700                 if ((data->flag & ROTLIKE_Z)==0)
1701                         eul[2] = obeul[2];
1702                 else {
1703                         if (data->flag & ROTLIKE_OFFSET)
1704                                 euler_rot(eul, obeul[2], 'z');
1705
1706                         if (data->flag & ROTLIKE_Z_INVERT)
1707                                 eul[2] *= -1;
1708                 }
1709
1710                 compatible_eul(eul, obeul);
1711                 LocEulSizeToMat4(cob->matrix, loc, eul, size);
1712         }
1713 }
1714
1715 static bConstraintTypeInfo CTI_ROTLIKE = {
1716         CONSTRAINT_TYPE_ROTLIKE, /* type */
1717         sizeof(bRotateLikeConstraint), /* size */
1718         "Copy Rotation", /* name */
1719         "bRotateLikeConstraint", /* struct name */
1720         NULL, /* free data */
1721         NULL, /* relink data */
1722         NULL, /* copy data */
1723         rotlike_new_data, /* new data */
1724         rotlike_get_tars, /* get constraint targets */
1725         rotlike_flush_tars, /* flush constraint targets */
1726         default_get_tarmat, /* get target matrix */
1727         rotlike_evaluate /* evaluate */
1728 };
1729
1730 /* ---------- Copy Scaling ---------- */
1731
1732 static void sizelike_new_data (void *cdata)
1733 {
1734         bSizeLikeConstraint *data= (bSizeLikeConstraint *)cdata;
1735
1736         data->flag = SIZELIKE_X|SIZELIKE_Y|SIZELIKE_Z;
1737 }
1738
1739 static int sizelike_get_tars (bConstraint *con, ListBase *list)
1740 {
1741         if (con && list) {
1742                 bSizeLikeConstraint *data= con->data;
1743                 bConstraintTarget *ct;
1744
1745                 /* standard target-getting macro for single-target constraints */
1746                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
1747
1748                 return 1;
1749         }
1750
1751         return 0;
1752 }
1753
1754 static void sizelike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1755 {
1756         if (con && list) {
1757                 bSizeLikeConstraint *data= con->data;
1758                 bConstraintTarget *ct= list->first;
1759
1760                 /* the following macro is used for all standard single-target constraints */
1761                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1762         }
1763 }
1764
1765 static void sizelike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1766 {
1767         bSizeLikeConstraint *data= con->data;
1768         bConstraintTarget *ct= targets->first;
1769
1770         if (VALID_CONS_TARGET(ct)) {
1771                 float obsize[3], size[3];
1772
1773                 Mat4ToSize(ct->matrix, size);
1774                 Mat4ToSize(cob->matrix, obsize);
1775
1776                 if ((data->flag & SIZELIKE_X) && (obsize[0] != 0)) {
1777                         if (data->flag & SIZELIKE_OFFSET) {
1778                                 size[0] += (obsize[0] - 1.0f);
1779                                 VecMulf(cob->matrix[0], size[0] / obsize[0]);
1780                         }
1781                         else
1782                                 VecMulf(cob->matrix[0], size[0] / obsize[0]);
1783                 }
1784                 if ((data->flag & SIZELIKE_Y) && (obsize[1] != 0)) {
1785                         if (data->flag & SIZELIKE_OFFSET) {
1786                                 size[1] += (obsize[1] - 1.0f);
1787                                 VecMulf(cob->matrix[1], size[1] / obsize[1]);
1788                         }
1789                         else
1790                                 VecMulf(cob->matrix[1], size[1] / obsize[1]);
1791                 }
1792                 if ((data->flag & SIZELIKE_Z) && (obsize[2] != 0)) {
1793                         if (data->flag & SIZELIKE_OFFSET) {
1794                                 size[2] += (obsize[2] - 1.0f);
1795                                 VecMulf(cob->matrix[2], size[2] / obsize[2]);
1796                         }
1797                         else
1798                                 VecMulf(cob->matrix[2], size[2] / obsize[2]);
1799                 }
1800         }
1801 }
1802
1803 static bConstraintTypeInfo CTI_SIZELIKE = {
1804         CONSTRAINT_TYPE_SIZELIKE, /* type */
1805         sizeof(bSizeLikeConstraint), /* size */
1806         "Copy Scale", /* name */
1807         "bSizeLikeConstraint", /* struct name */
1808         NULL, /* free data */
1809         NULL, /* relink data */
1810         NULL, /* copy data */
1811         sizelike_new_data, /* new data */
1812         sizelike_get_tars, /* get constraint targets */
1813         sizelike_flush_tars, /* flush constraint targets */
1814         default_get_tarmat, /* get target matrix */
1815         sizelike_evaluate /* evaluate */
1816 };
1817
1818
1819 /* ----------- Python Constraint -------------- */
1820
1821 static void pycon_free (bConstraint *con)
1822 {
1823         bPythonConstraint *data= con->data;
1824
1825         /* id-properties */
1826         IDP_FreeProperty(data->prop);
1827         MEM_freeN(data->prop);
1828
1829         /* multiple targets */
1830         BLI_freelistN(&data->targets);
1831 }
1832
1833 static void pycon_relink (bConstraint *con)
1834 {
1835         bPythonConstraint *data= con->data;
1836
1837         ID_NEW(data->text);
1838 }
1839
1840 static void pycon_copy (bConstraint *con, bConstraint *srccon)
1841 {
1842         bPythonConstraint *pycon = (bPythonConstraint *)con->data;
1843         bPythonConstraint *opycon = (bPythonConstraint *)srccon->data;
1844
1845         pycon->prop = IDP_CopyProperty(opycon->prop);
1846         duplicatelist(&pycon->targets, &opycon->targets);
1847 }
1848
1849 static void pycon_new_data (void *cdata)
1850 {
1851         bPythonConstraint *data= (bPythonConstraint *)cdata;
1852
1853         /* everything should be set correctly by calloc, except for the prop->type constant.*/
1854         data->prop = MEM_callocN(sizeof(IDProperty), "PyConstraintProps");
1855         data->prop->type = IDP_GROUP;
1856 }
1857
1858 static int pycon_get_tars (bConstraint *con, ListBase *list)
1859 {
1860         if (con && list) {
1861                 bPythonConstraint *data= con->data;
1862
1863                 list->first = data->targets.first;
1864                 list->last = data->targets.last;
1865
1866                 return data->tarnum;
1867         }
1868
1869         return 0;
1870 }
1871
1872 /* Whether this approach is maintained remains to be seen (aligorith) */
1873 static void pycon_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstraintTarget *ct, float ctime)
1874 {
1875         bPythonConstraint *data= con->data;
1876
1877         if (VALID_CONS_TARGET(ct)) {
1878                 /* special exception for curves - depsgraph issues */
1879                 if (ct->tar->type == OB_CURVE) {
1880                         Curve *cu= ct->tar->data;
1881
1882                         /* this check is to make sure curve objects get updated on file load correctly.*/
1883                         if (cu->path==NULL || cu->path->data==NULL) /* only happens on reload file, but violates depsgraph still... fix! */
1884                                 makeDispListCurveTypes(ct->tar, 0);
1885                 }
1886
1887                 /* firstly calculate the matrix the normal way, then let the py-function override
1888                  * this matrix if it needs to do so
1889                  */
1890                 constraint_target_to_mat4(ct->tar, ct->subtarget, ct->matrix, CONSTRAINT_SPACE_WORLD, ct->space, con->headtail);
1891
1892                 /* only execute target calculation if allowed */
1893 #ifndef DISABLE_PYTHON
1894                 if (G.f & G_DOSCRIPTLINKS)
1895                         BPY_pyconstraint_target(data, ct);
1896 #endif
1897         }
1898         else if (ct)
1899                 Mat4One(ct->matrix);
1900 }
1901
1902 static void pycon_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
1903 {
1904 #ifdef DISABLE_PYTHON
1905         return;
1906 #else
1907         bPythonConstraint *data= con->data;
1908
1909         /* only evaluate in python if we're allowed to do so */
1910         if ((G.f & G_DOSCRIPTLINKS)==0)  return;
1911
1912 /* currently removed, until I this can be re-implemented for multiple targets */
1913 #if 0
1914         /* Firstly, run the 'driver' function which has direct access to the objects involved
1915          * Technically, this is potentially dangerous as users may abuse this and cause dependency-problems,
1916          * but it also allows certain 'clever' rigging hacks to work.
1917          */
1918         BPY_pyconstraint_driver(data, cob, targets);
1919 #endif
1920
1921         /* Now, run the actual 'constraint' function, which should only access the matrices */
1922         BPY_pyconstraint_eval(data, cob, targets);
1923 #endif /* DISABLE_PYTHON */
1924 }
1925
1926 static bConstraintTypeInfo CTI_PYTHON = {
1927         CONSTRAINT_TYPE_PYTHON, /* type */
1928         sizeof(bPythonConstraint), /* size */
1929         "Script", /* name */
1930         "bPythonConstraint", /* struct name */
1931         pycon_free, /* free data */
1932         pycon_relink, /* relink data */
1933         pycon_copy, /* copy data */
1934         pycon_new_data, /* new data */
1935         pycon_get_tars, /* get constraint targets */
1936         NULL, /* flush constraint targets */
1937         pycon_get_tarmat, /* get target matrix */
1938         pycon_evaluate /* evaluate */
1939 };
1940
1941 /* -------- Action Constraint ----------- */
1942
1943 static void actcon_relink (bConstraint *con)
1944 {
1945         bActionConstraint *data= con->data;
1946         ID_NEW(data->act);
1947 }
1948
1949 static void actcon_new_data (void *cdata)
1950 {
1951         bActionConstraint *data= (bActionConstraint *)cdata;
1952
1953         /* set type to 20 (Loc X), as 0 is Rot X for backwards compatability */
1954         data->type = 20;
1955 }
1956
1957 static int actcon_get_tars (bConstraint *con, ListBase *list)
1958 {
1959         if (con && list) {
1960                 bActionConstraint *data= con->data;
1961                 bConstraintTarget *ct;
1962
1963                 /* standard target-getting macro for single-target constraints */
1964                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
1965
1966                 return 1;
1967         }
1968
1969         return 0;
1970 }
1971
1972 static void actcon_flush_tars (bConstraint *con, ListBase *list, short nocopy)
1973 {
1974         if (con && list) {
1975                 bActionConstraint *data= con->data;
1976                 bConstraintTarget *ct= list->first;
1977
1978                 /* the following macro is used for all standard single-target constraints */
1979                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
1980         }
1981 }
1982
1983 static void actcon_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstraintTarget *ct, float ctime)
1984 {
1985         extern void chan_calc_mat(bPoseChannel *chan);
1986         bActionConstraint *data = con->data;
1987
1988         if (VALID_CONS_TARGET(ct)) {
1989                 float tempmat[4][4], vec[3];
1990                 float s, t;
1991                 short axis;
1992
1993                 /* initialise return matrix */
1994                 Mat4One(ct->matrix);
1995
1996                 /* get the transform matrix of the target */
1997                 constraint_target_to_mat4(ct->tar, ct->subtarget, tempmat, CONSTRAINT_SPACE_WORLD, ct->space, con->headtail);
1998
1999                 /* determine where in transform range target is */
2000                 /* data->type is mapped as follows for backwards compatability:
2001                  *      00,01,02        - rotation (it used to be like this)
2002                  *      10,11,12        - scaling
2003                  *      20,21,22        - location
2004                  */
2005                 if (data->type < 10) {
2006                         /* extract rotation (is in whatever space target should be in) */
2007                         Mat4ToEul(tempmat, vec);
2008                         vec[0] *= (float)(180.0/M_PI);
2009                         vec[1] *= (float)(180.0/M_PI);
2010                         vec[2] *= (float)(180.0/M_PI);
2011                         axis= data->type;
2012                 }
2013                 else if (data->type < 20) {
2014                         /* extract scaling (is in whatever space target should be in) */
2015                         Mat4ToSize(tempmat, vec);
2016                         axis= data->type - 10;
2017                 }
2018                 else {
2019                         /* extract location */
2020                         VECCOPY(vec, tempmat[3]);
2021                         axis= data->type - 20;
2022                 }
2023
2024                 /* Target defines the animation */
2025                 s = (vec[axis]-data->min) / (data->max-data->min);
2026                 CLAMP(s, 0, 1);
2027                 t = ( s * (data->end-data->start)) + data->start;
2028
2029                 /* Get the appropriate information from the action */
2030                 if (cob->type == CONSTRAINT_OBTYPE_BONE) {
2031                         bPose *pose;
2032                         bPoseChannel *pchan, *tchan;
2033
2034                         /* make a temporary pose and evaluate using that */
2035                         pose = MEM_callocN(sizeof(bPose), "pose");
2036
2037                         pchan = cob->pchan;
2038                         tchan= verify_pose_channel(pose, pchan->name);
2039                         extract_pose_from_action(pose, data->act, t);
2040
2041                         chan_calc_mat(tchan);
2042
2043                         Mat4CpyMat4(ct->matrix, tchan->chan_mat);
2044
2045                         /* Clean up */
2046                         free_pose(pose);
2047                 }
2048                 else if (cob->type == CONSTRAINT_OBTYPE_OBJECT) {
2049                         /* evaluate using workob */
2050                         what_does_obaction(cob->ob, data->act, t);
2051                         object_to_mat4(&workob, ct->matrix);
2052                 }
2053                 else {
2054                         /* behaviour undefined... */
2055                         puts("Error: unknown owner type for Action Constraint");
2056                 }
2057         }
2058 }
2059
2060 static void actcon_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
2061 {
2062         bConstraintTarget *ct= targets->first;
2063
2064         if (VALID_CONS_TARGET(ct)) {
2065                 float temp[4][4];
2066
2067                 /* Nice and simple... we just need to multiply the matrices, as the get_target_matrix
2068                  * function has already taken care of everything else.
2069                  */
2070                 Mat4CpyMat4(temp, cob->matrix);
2071                 Mat4MulMat4(cob->matrix, ct->matrix, temp);
2072         }
2073 }
2074
2075 static bConstraintTypeInfo CTI_ACTION = {
2076         CONSTRAINT_TYPE_ACTION, /* type */
2077         sizeof(bActionConstraint), /* size */
2078         "Action", /* name */
2079         "bActionConstraint", /* struct name */
2080         NULL, /* free data */
2081         actcon_relink, /* relink data */
2082         NULL, /* copy data */
2083         actcon_new_data, /* new data */
2084         actcon_get_tars, /* get constraint targets */
2085         actcon_flush_tars, /* flush constraint targets */
2086         actcon_get_tarmat, /* get target matrix */
2087         actcon_evaluate /* evaluate */
2088 };
2089
2090 /* --------- Locked Track ---------- */
2091
2092 static void locktrack_new_data (void *cdata)
2093 {
2094         bLockTrackConstraint *data= (bLockTrackConstraint *)cdata;
2095
2096         data->trackflag = TRACK_Y;
2097         data->lockflag = LOCK_Z;
2098 }
2099
2100 static int locktrack_get_tars (bConstraint *con, ListBase *list)
2101 {
2102         if (con && list) {
2103                 bLockTrackConstraint *data= con->data;
2104                 bConstraintTarget *ct;
2105
2106                 /* the following macro is used for all standard single-target constraints */
2107                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
2108
2109                 return 1;
2110         }
2111
2112         return 0;
2113 }
2114
2115 static void locktrack_flush_tars (bConstraint *con, ListBase *list, short nocopy)
2116 {
2117         if (con && list) {
2118                 bLockTrackConstraint *data= con->data;
2119                 bConstraintTarget *ct= list->first;
2120
2121                 /* the following macro is used for all standard single-target constraints */
2122                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
2123         }
2124 }
2125
2126 static void locktrack_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
2127 {
2128         bLockTrackConstraint *data= con->data;
2129         bConstraintTarget *ct= targets->first;
2130
2131         if (VALID_CONS_TARGET(ct)) {
2132                 float vec[3],vec2[3];
2133                 float totmat[3][3];
2134                 float tmpmat[3][3];
2135                 float invmat[3][3];
2136                 float tmat[4][4];
2137                 float mdet;
2138
2139                 /* Vector object -> target */
2140                 VecSubf(vec, ct->matrix[3], cob->matrix[3]);
2141                 switch (data->lockflag){
2142                 case LOCK_X: /* LOCK X */
2143                 {
2144                         switch (data->trackflag) {
2145                                 case TRACK_Y: /* LOCK X TRACK Y */
2146                                 {
2147                                         /* Projection of Vector on the plane */
2148                                         Projf(vec2, vec, cob->matrix[0]);
2149                                         VecSubf(totmat[1], vec, vec2);
2150                                         Normalize(totmat[1]);
2151
2152                                         /* the x axis is fixed */
2153                                         totmat[0][0] = cob->matrix[0][0];
2154                                         totmat[0][1] = cob->matrix[0][1];
2155                                         totmat[0][2] = cob->matrix[0][2];
2156                                         Normalize(totmat[0]);
2157
2158                                         /* the z axis gets mapped onto a third orthogonal vector */
2159                                         Crossf(totmat[2], totmat[0], totmat[1]);
2160                                 }
2161                                         break;
2162                                 case TRACK_Z: /* LOCK X TRACK Z */
2163                                 {
2164                                         /* Projection of Vector on the plane */
2165                                         Projf(vec2, vec, cob->matrix[0]);
2166                                         VecSubf(totmat[2], vec, vec2);
2167                                         Normalize(totmat[2]);
2168
2169                                         /* the x axis is fixed */
2170                                         totmat[0][0] = cob->matrix[0][0];
2171                                         totmat[0][1] = cob->matrix[0][1];
2172                                         totmat[0][2] = cob->matrix[0][2];
2173                                         Normalize(totmat[0]);
2174
2175                                         /* the z axis gets mapped onto a third orthogonal vector */
2176                                         Crossf(totmat[1], totmat[2], totmat[0]);
2177                                 }
2178                                         break;
2179                                 case TRACK_nY: /* LOCK X TRACK -Y */
2180                                 {
2181                                         /* Projection of Vector on the plane */
2182                                         Projf(vec2, vec, cob->matrix[0]);
2183                                         VecSubf(totmat[1], vec, vec2);
2184                                         Normalize(totmat[1]);
2185                                         VecMulf(totmat[1],-1);
2186
2187                                         /* the x axis is fixed */
2188                                         totmat[0][0] = cob->matrix[0][0];
2189                                         totmat[0][1] = cob->matrix[0][1];
2190                                         totmat[0][2] = cob->matrix[0][2];
2191                                         Normalize(totmat[0]);
2192
2193                                         /* the z axis gets mapped onto a third orthogonal vector */
2194                                         Crossf(totmat[2], totmat[0], totmat[1]);
2195                                 }
2196                                         break;
2197                                 case TRACK_nZ: /* LOCK X TRACK -Z */
2198                                 {
2199                                         /* Projection of Vector on the plane */
2200                                         Projf(vec2, vec, cob->matrix[0]);
2201                                         VecSubf(totmat[2], vec, vec2);
2202                                         Normalize(totmat[2]);
2203                                         VecMulf(totmat[2],-1);
2204
2205                                         /* the x axis is fixed */
2206                                         totmat[0][0] = cob->matrix[0][0];
2207                                         totmat[0][1] = cob->matrix[0][1];
2208                                         totmat[0][2] = cob->matrix[0][2];
2209                                         Normalize(totmat[0]);
2210
2211                                         /* the z axis gets mapped onto a third orthogonal vector */
2212                                         Crossf(totmat[1], totmat[2], totmat[0]);
2213                                 }
2214                                         break;
2215                                 default:
2216                                 {
2217                                         totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
2218                                         totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
2219                                         totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
2220                                 }
2221                                         break;
2222                         }
2223                 }
2224                         break;
2225                 case LOCK_Y: /* LOCK Y */
2226                 {
2227                         switch (data->trackflag) {
2228                                 case TRACK_X: /* LOCK Y TRACK X */
2229                                 {
2230                                         /* Projection of Vector on the plane */
2231                                         Projf(vec2, vec, cob->matrix[1]);
2232                                         VecSubf(totmat[0], vec, vec2);
2233                                         Normalize(totmat[0]);
2234
2235                                         /* the y axis is fixed */
2236                                         totmat[1][0] = cob->matrix[1][0];
2237                                         totmat[1][1] = cob->matrix[1][1];
2238                                         totmat[1][2] = cob->matrix[1][2];
2239                                         Normalize(totmat[1]);
2240
2241                                         /* the z axis gets mapped onto a third orthogonal vector */
2242                                         Crossf(totmat[2], totmat[0], totmat[1]);
2243                                 }
2244                                         break;
2245                                 case TRACK_Z: /* LOCK Y TRACK Z */
2246                                 {
2247                                         /* Projection of Vector on the plane */
2248                                         Projf(vec2, vec, cob->matrix[1]);
2249                                         VecSubf(totmat[2], vec, vec2);
2250                                         Normalize(totmat[2]);
2251
2252                                         /* the y axis is fixed */
2253                                         totmat[1][0] = cob->matrix[1][0];
2254                                         totmat[1][1] = cob->matrix[1][1];
2255                                         totmat[1][2] = cob->matrix[1][2];
2256                                         Normalize(totmat[1]);
2257
2258                                         /* the z axis gets mapped onto a third orthogonal vector */
2259                                         Crossf(totmat[0], totmat[1], totmat[2]);
2260                                 }
2261                                         break;
2262                                 case TRACK_nX: /* LOCK Y TRACK -X */
2263                                 {
2264                                         /* Projection of Vector on the plane */
2265                                         Projf(vec2, vec, cob->matrix[1]);
2266                                         VecSubf(totmat[0], vec, vec2);
2267                                         Normalize(totmat[0]);
2268                                         VecMulf(totmat[0],-1);
2269
2270                                         /* the y axis is fixed */
2271                                         totmat[1][0] = cob->matrix[1][0];
2272                                         totmat[1][1] = cob->matrix[1][1];
2273                                         totmat[1][2] = cob->matrix[1][2];
2274                                         Normalize(totmat[1]);
2275
2276                                         /* the z axis gets mapped onto a third orthogonal vector */
2277                                         Crossf(totmat[2], totmat[0], totmat[1]);
2278                                 }
2279                                         break;
2280                                 case TRACK_nZ: /* LOCK Y TRACK -Z */
2281                                 {
2282                                         /* Projection of Vector on the plane */
2283                                         Projf(vec2, vec, cob->matrix[1]);
2284                                         VecSubf(totmat[2], vec, vec2);
2285                                         Normalize(totmat[2]);
2286                                         VecMulf(totmat[2],-1);
2287
2288                                         /* the y axis is fixed */
2289                                         totmat[1][0] = cob->matrix[1][0];
2290                                         totmat[1][1] = cob->matrix[1][1];
2291                                         totmat[1][2] = cob->matrix[1][2];
2292                                         Normalize(totmat[1]);
2293
2294                                         /* the z axis gets mapped onto a third orthogonal vector */
2295                                         Crossf(totmat[0], totmat[1], totmat[2]);
2296                                 }
2297                                         break;
2298                                 default:
2299                                 {
2300                                         totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
2301                                         totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
2302                                         totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
2303                                 }
2304                                         break;
2305                         }
2306                 }
2307                         break;
2308                 case LOCK_Z: /* LOCK Z */
2309                 {
2310                         switch (data->trackflag) {
2311                                 case TRACK_X: /* LOCK Z TRACK X */
2312                                 {
2313                                         /* Projection of Vector on the plane */
2314                                         Projf(vec2, vec, cob->matrix[2]);
2315                                         VecSubf(totmat[0], vec, vec2);
2316                                         Normalize(totmat[0]);
2317
2318                                         /* the z axis is fixed */
2319                                         totmat[2][0] = cob->matrix[2][0];
2320                                         totmat[2][1] = cob->matrix[2][1];
2321                                         totmat[2][2] = cob->matrix[2][2];
2322                                         Normalize(totmat[2]);
2323
2324                                         /* the x axis gets mapped onto a third orthogonal vector */
2325                                         Crossf(totmat[1], totmat[2], totmat[0]);
2326                                 }
2327                                         break;
2328                                 case TRACK_Y: /* LOCK Z TRACK Y */
2329                                 {
2330                                         /* Projection of Vector on the plane */
2331                                         Projf(vec2, vec, cob->matrix[2]);
2332                                         VecSubf(totmat[1], vec, vec2);
2333                                         Normalize(totmat[1]);
2334
2335                                         /* the z axis is fixed */
2336                                         totmat[2][0] = cob->matrix[2][0];
2337                                         totmat[2][1] = cob->matrix[2][1];
2338                                         totmat[2][2] = cob->matrix[2][2];
2339                                         Normalize(totmat[2]);
2340
2341                                         /* the x axis gets mapped onto a third orthogonal vector */
2342                                         Crossf(totmat[0], totmat[1], totmat[2]);
2343                                 }
2344                                         break;
2345                                 case TRACK_nX: /* LOCK Z TRACK -X */
2346                                 {
2347                                         /* Projection of Vector on the plane */
2348                                         Projf(vec2, vec, cob->matrix[2]);
2349                                         VecSubf(totmat[0], vec, vec2);
2350                                         Normalize(totmat[0]);
2351                                         VecMulf(totmat[0],-1);
2352
2353                                         /* the z axis is fixed */
2354                                         totmat[2][0] = cob->matrix[2][0];
2355                                         totmat[2][1] = cob->matrix[2][1];
2356                                         totmat[2][2] = cob->matrix[2][2];
2357                                         Normalize(totmat[2]);
2358
2359                                         /* the x axis gets mapped onto a third orthogonal vector */
2360                                         Crossf(totmat[1], totmat[2], totmat[0]);
2361                                 }
2362                                         break;
2363                                 case TRACK_nY: /* LOCK Z TRACK -Y */
2364                                 {
2365                                         /* Projection of Vector on the plane */
2366                                         Projf(vec2, vec, cob->matrix[2]);
2367                                         VecSubf(totmat[1], vec, vec2);
2368                                         Normalize(totmat[1]);
2369                                         VecMulf(totmat[1],-1);
2370
2371                                         /* the z axis is fixed */
2372                                         totmat[2][0] = cob->matrix[2][0];
2373                                         totmat[2][1] = cob->matrix[2][1];
2374                                         totmat[2][2] = cob->matrix[2][2];
2375                                         Normalize(totmat[2]);
2376
2377                                         /* the x axis gets mapped onto a third orthogonal vector */
2378                                         Crossf(totmat[0], totmat[1], totmat[2]);
2379                                 }
2380                                         break;
2381                                 default:
2382                                 {
2383                                                 totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
2384                                                 totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
2385                                                 totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
2386                                 }
2387                                         break;
2388                         }
2389                 }
2390                         break;
2391                 default:
2392                         {
2393                                 totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
2394                                 totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
2395                                 totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
2396                         }
2397                         break;
2398                 }
2399                 /* Block to keep matrix heading */
2400                 tmpmat[0][0] = cob->matrix[0][0];tmpmat[0][1] = cob->matrix[0][1];tmpmat[0][2] = cob->matrix[0][2];
2401                 tmpmat[1][0] = cob->matrix[1][0];tmpmat[1][1] = cob->matrix[1][1];tmpmat[1][2] = cob->matrix[1][2];
2402                 tmpmat[2][0] = cob->matrix[2][0];tmpmat[2][1] = cob->matrix[2][1];tmpmat[2][2] = cob->matrix[2][2];
2403                 Normalize(tmpmat[0]);
2404                 Normalize(tmpmat[1]);
2405                 Normalize(tmpmat[2]);
2406                 Mat3Inv(invmat, tmpmat);
2407                 Mat3MulMat3(tmpmat, totmat, invmat);
2408                 totmat[0][0] = tmpmat[0][0];totmat[0][1] = tmpmat[0][1];totmat[0][2] = tmpmat[0][2];
2409                 totmat[1][0] = tmpmat[1][0];totmat[1][1] = tmpmat[1][1];totmat[1][2] = tmpmat[1][2];
2410                 totmat[2][0] = tmpmat[2][0];totmat[2][1] = tmpmat[2][1];totmat[2][2] = tmpmat[2][2];
2411
2412                 Mat4CpyMat4(tmat, cob->matrix);
2413
2414                 mdet = Det3x3(  totmat[0][0],totmat[0][1],totmat[0][2],
2415                                                 totmat[1][0],totmat[1][1],totmat[1][2],
2416                                                 totmat[2][0],totmat[2][1],totmat[2][2]);
2417                 if (mdet==0) {
2418                         totmat[0][0] = 1;totmat[0][1] = 0;totmat[0][2] = 0;
2419                         totmat[1][0] = 0;totmat[1][1] = 1;totmat[1][2] = 0;
2420                         totmat[2][0] = 0;totmat[2][1] = 0;totmat[2][2] = 1;
2421                 }
2422
2423                 /* apply out transformaton to the object */
2424                 Mat4MulMat34(cob->matrix, totmat, tmat);
2425         }
2426 }
2427
2428 static bConstraintTypeInfo CTI_LOCKTRACK = {
2429         CONSTRAINT_TYPE_LOCKTRACK, /* type */
2430         sizeof(bLockTrackConstraint), /* size */
2431         "Locked Track", /* name */
2432         "bLockTrackConstraint", /* struct name */
2433         NULL, /* free data */
2434         NULL, /* relink data */
2435         NULL, /* copy data */
2436         locktrack_new_data, /* new data */
2437         locktrack_get_tars, /* get constraint targets */
2438         locktrack_flush_tars, /* flush constraint targets */
2439         default_get_tarmat, /* get target matrix */
2440         locktrack_evaluate /* evaluate */
2441 };
2442
2443 /* ---------- Limit Distance Constraint ----------- */
2444
2445 static void distlimit_new_data (void *cdata)
2446 {
2447         bDistLimitConstraint *data= (bDistLimitConstraint *)cdata;
2448
2449         data->dist= 0.0;
2450 }
2451
2452 static int distlimit_get_tars (bConstraint *con, ListBase *list)
2453 {
2454         if (con && list) {
2455                 bDistLimitConstraint *data= con->data;
2456                 bConstraintTarget *ct;
2457
2458                 /* standard target-getting macro for single-target constraints */
2459                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
2460
2461                 return 1;
2462         }
2463
2464         return 0;
2465 }
2466
2467 static void distlimit_flush_tars (bConstraint *con, ListBase *list, short nocopy)
2468 {
2469         if (con && list) {
2470                 bDistLimitConstraint *data= con->data;
2471                 bConstraintTarget *ct= list->first;
2472
2473                 /* the following macro is used for all standard single-target constraints */
2474                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
2475         }
2476 }
2477
2478 static void distlimit_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
2479 {
2480         bDistLimitConstraint *data= con->data;
2481         bConstraintTarget *ct= targets->first;
2482
2483         /* only evaluate if there is a target */
2484         if (VALID_CONS_TARGET(ct)) {
2485                 float dvec[3], dist=0.0f, sfac=1.0f;
2486                 short clamp_surf= 0;
2487
2488                 /* calculate our current distance from the target */
2489                 dist= VecLenf(cob->matrix[3], ct->matrix[3]);
2490
2491                 /* set distance (flag is only set when user demands it) */
2492                 if (data->dist == 0)
2493                         data->dist= dist;
2494
2495                 /* check if we're which way to clamp from, and calculate interpolation factor (if needed) */
2496                 if (data->mode == LIMITDIST_OUTSIDE) {
2497                         /* if inside, then move to surface */
2498                         if (dist <= data->dist) {
2499                                 clamp_surf= 1;
2500                                 sfac= data->dist / dist;
2501                         }
2502                         /* if soft-distance is enabled, start fading once owner is dist+softdist from the target */
2503                         else if (data->flag & LIMITDIST_USESOFT) {
2504                                 if (dist <= (data->dist + data->soft)) {
2505
2506                                 }
2507                         }
2508                 }
2509                 else if (data->mode == LIMITDIST_INSIDE) {
2510                         /* if outside, then move to surface */
2511                         if (dist >= data->dist) {
2512                                 clamp_surf= 1;
2513                                 sfac= data->dist / dist;
2514                         }
2515                         /* if soft-distance is enabled, start fading once owner is dist-soft from the target */
2516                         else if (data->flag & LIMITDIST_USESOFT) {
2517                                 // FIXME: there's a problem with "jumping" when this kicks in
2518                                 if (dist >= (data->dist - data->soft)) {
2519                                         sfac = (float)( data->soft*(1.0 - exp(-(dist - data->dist)/data->soft)) + data->dist );
2520                                         sfac /= dist;
2521
2522                                         clamp_surf= 1;
2523                                 }
2524                         }
2525                 }
2526                 else {
2527                         if (IS_EQ(dist, data->dist)==0) {
2528                                 clamp_surf= 1;
2529                                 sfac= data->dist / dist;
2530                         }
2531                 }
2532
2533                 /* clamp to 'surface' (i.e. move owner so that dist == data->dist) */
2534                 if (clamp_surf) {
2535                         /* simply interpolate along line formed by target -> owner */
2536                         VecLerpf(dvec, ct->matrix[3], cob->matrix[3], sfac);
2537
2538                         /* copy new vector onto owner */
2539                         VECCOPY(cob->matrix[3], dvec);
2540                 }
2541         }
2542 }
2543
2544 static bConstraintTypeInfo CTI_DISTLIMIT = {
2545         CONSTRAINT_TYPE_DISTLIMIT, /* type */
2546         sizeof(bDistLimitConstraint), /* size */
2547         "Limit Distance", /* name */
2548         "bDistLimitConstraint", /* struct name */
2549         NULL, /* free data */
2550         NULL, /* relink data */
2551         NULL, /* copy data */
2552         distlimit_new_data, /* new data */
2553         distlimit_get_tars, /* get constraint targets */
2554         distlimit_flush_tars, /* flush constraint targets */
2555         default_get_tarmat, /* get a target matrix */
2556         distlimit_evaluate /* evaluate */
2557 };
2558
2559 /* ---------- Stretch To ------------ */
2560
2561 static void stretchto_new_data (void *cdata)
2562 {
2563         bStretchToConstraint *data= (bStretchToConstraint *)cdata;
2564
2565         data->volmode = 0;
2566         data->plane = 0;
2567         data->orglength = 0.0;
2568         data->bulge = 1.0;
2569 }
2570
2571 static int stretchto_get_tars (bConstraint *con, ListBase *list)
2572 {
2573         if (con && list) {
2574                 bStretchToConstraint *data= con->data;
2575                 bConstraintTarget *ct;
2576
2577                 /* standard target-getting macro for single-target constraints */
2578                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
2579
2580                 return 1;
2581         }
2582
2583         return 0;
2584 }
2585
2586 static void stretchto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
2587 {
2588         if (con && list) {
2589                 bStretchToConstraint *data= con->data;
2590                 bConstraintTarget *ct= list->first;
2591
2592                 /* the following macro is used for all standard single-target constraints */
2593                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
2594         }
2595 }
2596
2597 static void stretchto_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
2598 {
2599         bStretchToConstraint *data= con->data;
2600         bConstraintTarget *ct= targets->first;
2601
2602         /* only evaluate if there is a target */
2603         if (VALID_CONS_TARGET(ct)) {
2604                 float size[3], scale[3], vec[3], xx[3], zz[3], orth[3];
2605                 float totmat[3][3];
2606                 float tmat[4][4];
2607                 float dist;
2608
2609                 /* store scaling before destroying obmat */
2610                 Mat4ToSize(cob->matrix, size);
2611
2612                 /* store X orientation before destroying obmat */
2613                 xx[0] = cob->matrix[0][0];
2614                 xx[1] = cob->matrix[0][1];
2615                 xx[2] = cob->matrix[0][2];
2616                 Normalize(xx);
2617
2618                 /* store Z orientation before destroying obmat */
2619                 zz[0] = cob->matrix[2][0];
2620                 zz[1] = cob->matrix[2][1];
2621                 zz[2] = cob->matrix[2][2];
2622                 Normalize(zz);
2623
2624                 VecSubf(vec, cob->matrix[3], ct->matrix[3]);
2625                 vec[0] /= size[0];
2626                 vec[1] /= size[1];
2627                 vec[2] /= size[2];
2628
2629                 dist = Normalize(vec);
2630                 //dist = VecLenf( ob->obmat[3], targetmat[3]);
2631
2632                 /* data->orglength==0 occurs on first run, and after 'R' button is clicked */
2633                 if (data->orglength == 0)
2634                         data->orglength = dist;
2635                 if (data->bulge == 0)
2636                         data->bulge = 1.0;
2637
2638                 scale[1] = dist/data->orglength;
2639                 switch (data->volmode) {
2640                 /* volume preserving scaling */
2641                 case VOLUME_XZ :
2642                         scale[0] = 1.0f - (float)sqrt(data->bulge) + (float)sqrt(data->bulge*(data->orglength/dist));
2643                         scale[2] = scale[0];
2644                         break;
2645                 case VOLUME_X:
2646                         scale[0] = 1.0f + data->bulge * (data->orglength /dist - 1);
2647                         scale[2] = 1.0;
2648                         break;
2649                 case VOLUME_Z:
2650                         scale[0] = 1.0;
2651                         scale[2] = 1.0f + data->bulge * (data->orglength /dist - 1);
2652                         break;
2653                         /* don't care for volume */
2654                 case NO_VOLUME:
2655                         scale[0] = 1.0;
2656                         scale[2] = 1.0;
2657                         break;
2658                 default: /* should not happen, but in case*/
2659                         return;
2660                 } /* switch (data->volmode) */
2661
2662                 /* Clear the object's rotation and scale */
2663                 cob->matrix[0][0]=size[0]*scale[0];
2664                 cob->matrix[0][1]=0;
2665                 cob->matrix[0][2]=0;
2666                 cob->matrix[1][0]=0;
2667                 cob->matrix[1][1]=size[1]*scale[1];
2668                 cob->matrix[1][2]=0;
2669                 cob->matrix[2][0]=0;
2670                 cob->matrix[2][1]=0;
2671                 cob->matrix[2][2]=size[2]*scale[2];
2672
2673                 VecSubf(vec, cob->matrix[3], ct->matrix[3]);
2674                 Normalize(vec);
2675
2676                 /* new Y aligns  object target connection*/
2677                 totmat[1][0] = -vec[0];
2678                 totmat[1][1] = -vec[1];
2679                 totmat[1][2] = -vec[2];
2680                 switch (data->plane) {
2681                 case PLANE_X:
2682                         /* build new Z vector */
2683                         /* othogonal to "new Y" "old X! plane */
2684                         Crossf(orth, vec, xx);
2685                         Normalize(orth);
2686
2687                         /* new Z*/
2688                         totmat[2][0] = orth[0];
2689                         totmat[2][1] = orth[1];
2690                         totmat[2][2] = orth[2];
2691
2692                         /* we decided to keep X plane*/
2693                         Crossf(xx, orth, vec);
2694                         Normalize(xx);
2695                         totmat[0][0] = xx[0];
2696                         totmat[0][1] = xx[1];
2697                         totmat[0][2] = xx[2];
2698                         break;
2699                 case PLANE_Z:
2700                         /* build new X vector */
2701                         /* othogonal to "new Y" "old Z! plane */
2702                         Crossf(orth, vec, zz);
2703                         Normalize(orth);
2704
2705                         /* new X */
2706                         totmat[0][0] = -orth[0];
2707                         totmat[0][1] = -orth[1];
2708                         totmat[0][2] = -orth[2];
2709
2710                         /* we decided to keep Z */
2711                         Crossf(zz, orth, vec);
2712                         Normalize(zz);
2713                         totmat[2][0] = zz[0];
2714                         totmat[2][1] = zz[1];
2715                         totmat[2][2] = zz[2];
2716                         break;
2717                 } /* switch (data->plane) */
2718
2719                 Mat4CpyMat4(tmat, cob->matrix);
2720                 Mat4MulMat34(cob->matrix, totmat, tmat);
2721         }
2722 }
2723
2724 static bConstraintTypeInfo CTI_STRETCHTO = {
2725         CONSTRAINT_TYPE_STRETCHTO, /* type */
2726         sizeof(bStretchToConstraint), /* size */
2727         "Stretch To", /* name */
2728         "bStretchToConstraint", /* struct name */
2729         NULL, /* free data */
2730         NULL, /* relink data */
2731         NULL, /* copy data */
2732         stretchto_new_data, /* new data */
2733         stretchto_get_tars, /* get constraint targets */
2734         stretchto_flush_tars, /* flush constraint targets */
2735         default_get_tarmat, /* get target matrix */
2736         stretchto_evaluate /* evaluate */
2737 };
2738
2739 /* ---------- Floor ------------ */
2740
2741 static void minmax_new_data (void *cdata)
2742 {
2743         bMinMaxConstraint *data= (bMinMaxConstraint *)cdata;
2744
2745         data->minmaxflag = TRACK_Z;
2746         data->offset = 0.0f;
2747         data->cache[0] = data->cache[1] = data->cache[2] = 0.0f;
2748         data->flag = 0;
2749 }
2750
2751 static int minmax_get_tars (bConstraint *con, ListBase *list)
2752 {
2753         if (con && list) {
2754                 bMinMaxConstraint *data= con->data;
2755                 bConstraintTarget *ct;
2756
2757                 /* standard target-getting macro for single-target constraints */
2758                 SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
2759
2760                 return 1;
2761         }
2762
2763         return 0;
2764 }
2765
2766 static void minmax_flush_tars (bConstraint *con, ListBase *list, short nocopy)
2767 {
2768         if (con && list) {
2769                 bMinMaxConstraint *data= con->data;
2770                 bConstraintTarget *ct= list->first;
2771
2772                 /* the following macro is used for all standard single-target constraints */
2773                 SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
2774         }
2775 }
2776
2777 static void minmax_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
2778 {
2779         bMinMaxConstraint *data= con->data;
2780         bConstraintTarget *ct= targets->first;
2781
2782         /* only evaluate if there is a target */
2783         if (VALID_CONS_TARGET(ct)) {
2784                 float obmat[4][4], imat[4][4], tarmat[4][4], tmat[4][4];
2785                 float val1, val2;
2786                 int index;
2787
2788                 Mat4CpyMat4(obmat, cob->matrix);
2789                 Mat4CpyMat4(tarmat, ct->matrix);
2790
2791                 if (data->flag & MINMAX_USEROT) {
2792                         /* take rotation of target into account by doing the transaction in target's localspace */
2793                         Mat4Invert(imat, tarmat);
2794                         Mat4MulMat4(tmat, obmat, imat);
2795                         Mat4CpyMat4(obmat, tmat);
2796                         Mat4One(tarmat);
2797                 }
2798
2799                 switch (data->minmaxflag) {
2800                 case TRACK_Z:
2801                         val1 = tarmat[3][2];
2802                         val2 = obmat[3][2]-data->offset;
2803                         index = 2;
2804                         break;
2805                 case TRACK_Y:
2806                         val1 = tarmat[3][1];
2807                         val2 = obmat[3][1]-data->offset;
2808                         index = 1;
2809                         break;
2810                 case TRACK_X:
2811                         val1 = tarmat[3][0];
2812                         val2 = obmat[3][0]-data->offset;
2813                         index = 0;
2814                         break;
2815                 case TRACK_nZ:
2816                         val2 = tarmat[3][2];
2817                         val1 = obmat[3][2]-data->offset;
2818                         index = 2;
2819                         break;
2820                 case TRACK_nY:
2821                         val2 = tarmat[3][1];
2822                         val1 = obmat[3][1]-data->offset;
2823                         index = 1;
2824                         break;
2825                 case TRACK_nX:
2826                         val2 = tarmat[3][0];
2827                         val1 = obmat[3][0]-data->offset;
2828                         index = 0;
2829                         break;
2830                 default:
2831                         return;
2832                 }
2833
2834                 if (val1 > val2) {
2835                         obmat[3][index] = tarmat[3][index] + data->offset;
2836                         if (data->flag & MINMAX_STICKY) {
2837                                 if (data->flag & MINMAX_STUCK) {
2838                                         VECCOPY(obmat[3], data->cache);
2839                                 }
2840