text: /*
   * ***** BEGIN GPL LICENSE BLOCK *****
   *
   * This program is free software; you can redistribute it and/or
   * modify it under the terms of the GNU General Public License
   * as published by the Free Software Foundation; either version 2
   * of the License, or (at your option) any later version.
   *
   * This program is distributed in the hope that it will be useful,
   * but WITHOUT ANY WARRANTY; without even the implied warranty of
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   * GNU General Public License for more details.
   *
   * You should have received a copy of the GNU General Public License
   * along with this program; if not, write to the Free Software Foundation,
   * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
   *
   * Contributor(s): Chingiz Dyussenov, Arystanbek Dyussenov, Jan Diederich, Tod Liverseed,
   *                 Nathan Letwory
   *
   * ***** END GPL LICENSE BLOCK *****
   */
  
  /** \file blender/collada/ArmatureExporter.cpp
   *  \ingroup collada
   */
  
  
  #include "COLLADASWBaseInputElement.h"
  #include "COLLADASWInstanceController.h"
  #include "COLLADASWPrimitves.h"
  #include "COLLADASWSource.h"
  
  #include "DNA_action_types.h"
  #include "DNA_meshdata_types.h"
  #include "DNA_modifier_types.h"
  
  #include "BKE_action.h"
  #include "BKE_armature.h"
  
  extern "C" {
  #include "BKE_main.h"
  #include "BKE_mesh.h"
  #include "BKE_global.h"
  #include "BKE_library.h"
  }
  
  #include "ED_armature.h"
  
  #include "BLI_listbase.h"
  
  #include "GeometryExporter.h"
  #include "ArmatureExporter.h"
  #include "SceneExporter.h"
  
  #include "collada_utils.h"
  
  // XXX exporter writes wrong data for shared armatures.  A separate
  // controller should be written for each armature-mesh binding how do
  // we make controller ids then?
  ArmatureExporter::ArmatureExporter(COLLADASW::StreamWriter *sw, const ExportSettings *export_settings) : COLLADASW::LibraryControllers(sw), export_settings(export_settings) {
  }
  
  // write bone nodes
  void ArmatureExporter::add_armature_bones(Object *ob_arm, Scene *sce,
                                            SceneExporter *se,
                                            std::list<Object *>& child_objects)
  {
  	// write bone nodes
  
  	bArmature * armature = (bArmature *)ob_arm->data;
  	bool is_edited = armature->edbo != NULL;
  
  	if (!is_edited)
  		ED_armature_to_edit(armature);
  
  	for (Bone *bone = (Bone *)armature->bonebase.first; bone; bone = bone->next) {
  		// start from root bones
  		if (!bone->parent)
  			add_bone_node(bone, ob_arm, sce, se, child_objects);
  	}
  
  	if (!is_edited) {
  		ED_armature_from_edit(armature);
  		ED_armature_edit_free(armature);
  	}
  }
  
  void ArmatureExporter::write_bone_URLs(COLLADASW::InstanceController &ins, Object *ob_arm, Bone *bone)
  {
  	if (bc_is_root_bone(bone, this->export_settings->deform_bones_only))
  		ins.addSkeleton(COLLADABU::URI(COLLADABU::Utils::EMPTY_STRING, get_joint_id(bone, ob_arm)));
  	else {
  		for (Bone *child = (Bone *)bone->childbase.first; child; child = child->next) {
  			write_bone_URLs(ins, ob_arm, child);
  		}
  	}
  }
  
  bool ArmatureExporter::add_instance_controller(Object *ob)
  {
  	Object *ob_arm = bc_get_assigned_armature(ob);
  	bArmature *arm = (bArmature *)ob_arm->data;
  
  	const std::string& controller_id = get_controller_id(ob_arm, ob);
  
  	COLLADASW::InstanceController ins(mSW);
  	ins.setUrl(COLLADASW::URI(COLLADABU::Utils::EMPTY_STRING, controller_id));
  
  	Mesh *me = (Mesh *)ob->data;
  	if (!me->dvert) return false;
  
  	// write root bone URLs
  	Bone *bone;
  	for (bone = (Bone *)arm->bonebase.first; bone; bone = bone->next) {
  		write_bone_URLs(ins, ob_arm, bone);
  	}
  
  	InstanceWriter::add_material_bindings(ins.getBindMaterial(), 
  		ob, 
  		this->export_settings->active_uv_only,
  		this->export_settings->export_texture_type);
  		
  	ins.add();
  	return true;
  }
  
  #if 0
  void ArmatureExporter::operator()(Object *ob)
  {
  	Object *ob_arm = bc_get_assigned_armature(ob);
  
  }
  
  bool ArmatureExporter::already_written(Object *ob_arm)
  {
  	return std::find(written_armatures.begin(), written_armatures.end(), ob_arm) != written_armatures.end();
  }
  
  void ArmatureExporter::wrote(Object *ob_arm)
  {
  	written_armatures.push_back(ob_arm);
  }
  
  void ArmatureExporter::find_objects_using_armature(Object *ob_arm, std::vector<Object *>& objects, Scene *sce)
  {
  	objects.clear();
  
  	Base *base = (Base *) sce->base.first;
  	while (base) {
  		Object *ob = base->object;
  		
  		if (ob->type == OB_MESH && get_assigned_armature(ob) == ob_arm) {
  			objects.push_back(ob);
  		}
  
  		base = base->next;
  	}
  }
  #endif
  
  // parent_mat is armature-space
  void ArmatureExporter::add_bone_node(Bone *bone, Object *ob_arm, Scene *sce,
                                       SceneExporter *se,
                                       std::list<Object *>& child_objects)
  {
  	if (!(this->export_settings->deform_bones_only && bone->flag & BONE_NO_DEFORM)) {
  		std::string node_id = get_joint_id(bone, ob_arm);
  		std::string node_name = std::string(bone->name);
  		std::string node_sid = get_joint_sid(bone, ob_arm);
  
  		COLLADASW::Node node(mSW);
  
  		node.setType(COLLADASW::Node::JOINT);
  		node.setNodeId(node_id);
  		node.setNodeName(node_name);
  		node.setNodeSid(node_sid);
  
  		if (this->export_settings->use_blender_profile)
  		{
  			if (bone->parent) {
  				if (bone->flag & BONE_CONNECTED) {
  					node.addExtraTechniqueParameter("blender", "connect", true);
  				}
  			}
  			std::string layers = BoneExtended::get_bone_layers(bone->layer);
  			node.addExtraTechniqueParameter("blender", "layer", layers);
  
  			bArmature *armature = (bArmature *)ob_arm->data;
  			EditBone *ebone = bc_get_edit_bone(armature, bone->name);
  			if (ebone && ebone->roll != 0)
  			{
  				node.addExtraTechniqueParameter("blender", "roll", ebone->roll);
  			}
  			if (bc_is_leaf_bone(bone))
  			{
  				node.addExtraTechniqueParameter("blender", "tip_x", bone->arm_tail[0] - bone->arm_head[0]);
  				node.addExtraTechniqueParameter("blender", "tip_y", bone->arm_tail[1] - bone->arm_head[1]);
  				node.addExtraTechniqueParameter("blender", "tip_z", bone->arm_tail[2] - bone->arm_head[2]);
  			}
  		}
  
  			node.start();
  
  			add_bone_transform(ob_arm, bone, node);
  
  			// Write nodes of childobjects, remove written objects from list
  			std::list<Object *>::iterator i = child_objects.begin();
  
  			while (i != child_objects.end()) {
  				if ((*i)->partype == PARBONE && STREQ((*i)->parsubstr, bone->name)) {
  					float backup_parinv[4][4];
  					copy_m4_m4(backup_parinv, (*i)->parentinv);
  
  					// crude, temporary change to parentinv
  					// so transform gets exported correctly.
  
  					// Add bone tail- translation... don't know why
  					// bone parenting is against the tail of a bone
  					// and not it's head, seems arbitrary.
  					(*i)->parentinv[3][1] += bone->length;
  
  					// OPEN_SIM_COMPATIBILITY
  					// TODO: when such objects are animated as
  					// single matrix the tweak must be applied
  					// to the result.
  					if (export_settings->open_sim) {
  						// tweak objects parentinverse to match compatibility
  						float temp[4][4];
  
  						copy_m4_m4(temp, bone->arm_mat);
  						temp[3][0] = temp[3][1] = temp[3][2] = 0.0f;
  
  						mul_m4_m4m4((*i)->parentinv, temp, (*i)->parentinv);
  					}
  
  					se->writeNodes(*i, sce);
  
  					copy_m4_m4((*i)->parentinv, backup_parinv);
  					child_objects.erase(i++);
  				}
  				else i++;
  			}
  
  			for (Bone *child = (Bone *)bone->childbase.first; child; child = child->next) {
  				add_bone_node(child, ob_arm, sce, se, child_objects);
  			}
  			node.end();
  		}
  		else {
  			for (Bone *child = (Bone *)bone->childbase.first; child; child = child->next) {
  				add_bone_node(child, ob_arm, sce, se, child_objects);
  			}
  		}
  }
  
  void ArmatureExporter::add_bone_transform(Object *ob_arm, Bone *bone, COLLADASW::Node& node)
  {
  	//bPoseChannel *pchan = BKE_pose_channel_find_name(ob_arm->pose, bone->name);
  
  	float mat[4][4];
  	float bone_rest_mat[4][4]; /* derived from bone->arm_mat */
  	float parent_rest_mat[4][4]; /* derived from bone->parent->arm_mat */
  
  	bool has_restmat = bc_get_property_matrix(bone, "rest_mat", mat);
  
  	if (!has_restmat) {
  
  		/* Have no restpose matrix stored, try old style <= Blender 2.78 */
  		
  		bc_create_restpose_mat(this->export_settings, bone, bone_rest_mat, bone->arm_mat, true);
  
  		if (bone->parent) {
  			// get bone-space matrix from parent pose
  			/*bPoseChannel *parchan = BKE_pose_channel_find_name(ob_arm->pose, bone->parent->name);
  			float invpar[4][4];
  			invert_m4_m4(invpar, parchan->pose_mat);
  			mul_m4_m4m4(mat, invpar, pchan->pose_mat);*/
  			float invpar[4][4];
  			bc_create_restpose_mat(this->export_settings, bone->parent, parent_rest_mat, bone->parent->arm_mat, true);
  
  			invert_m4_m4(invpar, parent_rest_mat);
  			mul_m4_m4m4(mat, invpar, bone_rest_mat);
  
  		}
  		else {
  			copy_m4_m4(mat, bone_rest_mat);
  		}
  
  		// OPEN_SIM_COMPATIBILITY
  		if (export_settings->open_sim) {
  			// Remove rotations vs armature from transform
  			// parent_rest_rot * mat * irest_rot
  			float temp[4][4];
  			copy_m4_m4(temp, bone_rest_mat);
  			temp[3][0] = temp[3][1] = temp[3][2] = 0.0f;
  			invert_m4(temp);
  
  			mul_m4_m4m4(mat, mat, temp);
  
  			if (bone->parent) {
  				copy_m4_m4(temp, parent_rest_mat);
  				temp[3][0] = temp[3][1] = temp[3][2] = 0.0f;
  
  				mul_m4_m4m4(mat, temp, mat);
  			}
  		}
  	}
  
  	if (this->export_settings->limit_precision)
  		bc_sanitize_mat(mat, 6);
  
  	TransformWriter::add_node_transform(node, mat, NULL);
  
  }
  
  std::string ArmatureExporter::get_controller_id(Object *ob_arm, Object *ob)
  {
  	return translate_id(id_name(ob_arm)) + "_" + translate_id(id_name(ob)) + SKIN_CONTROLLER_ID_SUFFIX;
  }
  