Pole Target for IK

==================

This adds an extra target to the IK solver constraint to define the
roll of the IK chain.

http://www.blender.org/development/current-projects/changes-since-244/inverse-kinematics/

Also fixes a crashes using ctrl+I to set an IK constraint on a bone
due to the recent constraints refactor.

17 files changed, 394 insertions, 102 deletions

diff --git a/intern/iksolver/extern/IK_solver.h b/intern/iksolver/extern/IK_solver.h
index 8626ca22beb..bf53a9e3724 100644
--- a/intern/iksolver/extern/IK_solver.h
+++ b/intern/iksolver/extern/IK_solver.h
@@ -158,6 +158,8 @@ void IK_FreeSolver(IK_Solver *solver);
 
 void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float weight);
 void IK_SolverAddGoalOrientation(IK_Solver *solver, IK_Segment *tip, float goal[][3], float weight);
+void IK_SolverSetPoleVectorConstraint(IK_Solver *solver, IK_Segment *tip, float goal[3], float polegoal[3], float poleangle, int getangle);
+float IK_SolverGetPoleAngle(IK_Solver *solver);
 
 int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);
 
diff --git a/intern/iksolver/intern/IK_QJacobian.cpp b/intern/iksolver/intern/IK_QJacobian.cpp
index 03c5f9500be..1dd4d086aa8 100644
--- a/intern/iksolver/intern/IK_QJacobian.cpp
+++ b/intern/iksolver/intern/IK_QJacobian.cpp
@@ -42,11 +42,10 @@ IK_QJacobian::~IK_QJacobian()
 {
 }
 
-void IK_QJacobian::ArmMatrices(int dof, int task_size, int tasks)
+void IK_QJacobian::ArmMatrices(int dof, int task_size)
 {
 	m_dof = dof;
 	m_task_size = task_size;
-	m_tasks = tasks;
 
 	m_jacobian.newsize(task_size, dof);
 	m_jacobian = 0;
diff --git a/intern/iksolver/intern/IK_QJacobian.h b/intern/iksolver/intern/IK_QJacobian.h
index b80db1d8f53..3e20e4a9fd0 100644
--- a/intern/iksolver/intern/IK_QJacobian.h
+++ b/intern/iksolver/intern/IK_QJacobian.h
@@ -49,7 +49,7 @@ public:
 	~IK_QJacobian();
 
 	// Call once to initialize
-	void ArmMatrices(int dof, int task_size, int tasks);
+	void ArmMatrices(int dof, int task_size);
 	void SetDoFWeight(int dof, MT_Scalar weight);
 
 	// Iteratively called
@@ -75,7 +75,7 @@ private:
 	void InvertSDLS();
 	void InvertDLS();
 
-	int m_dof, m_task_size, m_tasks;
+	int m_dof, m_task_size;
 	bool m_transpose;
 
 	// the jacobian matrix and it's null space projector
diff --git a/intern/iksolver/intern/IK_QJacobianSolver.cpp b/intern/iksolver/intern/IK_QJacobianSolver.cpp
index ea18f0b2003..f19b2a162fa 100644
--- a/intern/iksolver/intern/IK_QJacobianSolver.cpp
+++ b/intern/iksolver/intern/IK_QJacobianSolver.cpp
@@ -32,6 +32,15 @@
 
 #include <stdio.h>
 #include "IK_QJacobianSolver.h"
+#include "MT_Quaternion.h"
+
+//#include "analyze.h"
+IK_QJacobianSolver::IK_QJacobianSolver()
+{
+	m_poleconstraint = false;
+	m_getpoleangle = false;
+	m_rootmatrix.setIdentity();
+}
 
 void IK_QJacobianSolver::AddSegmentList(IK_QSegment *seg)
 {
@@ -47,7 +56,7 @@ bool IK_QJacobianSolver::Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks)
 	m_segments.clear();
 	AddSegmentList(root);
 
-	// assing each segment a unique id for the jacobian
+	// assign each segment a unique id for the jacobian
 	std::vector<IK_QSegment*>::iterator seg;
 	int num_dof = 0;
 
@@ -105,9 +114,9 @@ bool IK_QJacobianSolver::Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks)
 	}
 
 	// set matrix sizes
-	m_jacobian.ArmMatrices(num_dof, primary_size, primary);
+	m_jacobian.ArmMatrices(num_dof, primary_size);
 	if (secondary > 0)
-		m_jacobian_sub.ArmMatrices(num_dof, secondary_size, secondary);
+		m_jacobian_sub.ArmMatrices(num_dof, secondary_size);
 
 	// set dof weights
 	int i;
@@ -119,6 +128,109 @@ bool IK_QJacobianSolver::Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks)
 	return true;
 }
 
+void IK_QJacobianSolver::SetPoleVectorConstraint(IK_QSegment *tip, MT_Vector3& goal, MT_Vector3& polegoal, float poleangle, bool getangle)
+{
+	m_poleconstraint = true;
+	m_poletip = tip;
+	m_goal = goal;
+	m_polegoal = polegoal;
+	m_poleangle = (getangle)? 0.0f: poleangle;
+	m_getpoleangle = getangle;
+}
+
+static MT_Scalar safe_acos(MT_Scalar f)
+{
+	// acos that does not return NaN with rounding errors
+	if (f <= -1.0f) return MT_PI;
+	else if (f >= 1.0f) return 0.0;
+	else return acos(f);
+}
+
+static MT_Vector3 normalize(const MT_Vector3& v)
+{
+	// a sane normalize function that doesn't give (1, 0, 0) in case
+	// of a zero length vector, like MT_Vector3.normalize
+	MT_Scalar len = v.length();
+	return MT_fuzzyZero(len)?  MT_Vector3(0, 0, 0): v/len;
+}
+
+static float angle(const MT_Vector3& v1, const MT_Vector3& v2)
+{
+	return safe_acos(v1.dot(v2));
+}
+
+void IK_QJacobianSolver::ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask*>& tasks)
+{
+	// this function will be called before and after solving. calling it before
+	// solving gives predictable solutions by rotating towards the solution,
+	// and calling it afterwards ensures the solution is exact.
+
+	if(!m_poleconstraint)
+		return;
+	
+	// disable pole vector constraint in case of multiple position tasks
+	std::list<IK_QTask*>::iterator task;
+	int positiontasks = 0;
+
+	for (task = tasks.begin(); task != tasks.end(); task++)
+		if((*task)->PositionTask())
+			positiontasks++;
+	
+	if (positiontasks >= 2) {
+		m_poleconstraint = false;
+		return;
+	}
+
+	// get positions and rotations
+	root->UpdateTransform(m_rootmatrix);
+
+	const MT_Vector3 rootpos = root->GlobalStart();
+	const MT_Vector3 endpos = m_poletip->GlobalEnd();
+	const MT_Matrix3x3& rootbasis = root->GlobalTransform().getBasis();
+
+	// construct "lookat" matrices (like gluLookAt), based on a direction and
+	// an up vector, with the direction going from the root to the end effector
+	// and the up vector going from the root to the pole constraint position.
+	MT_Vector3 dir = normalize(endpos - rootpos);
+	MT_Vector3 rootx= rootbasis.getColumn(0);
+	MT_Vector3 rootz= rootbasis.getColumn(2);
+	MT_Vector3 up = rootx*cos(m_poleangle) + rootz*sin(m_poleangle);
+
+	// in post, don't rotate towards the goal but only correct the pole up
+	MT_Vector3 poledir = (m_getpoleangle)? dir: normalize(m_goal - rootpos);
+	MT_Vector3 poleup = normalize(m_polegoal - rootpos);
+
+	MT_Matrix3x3 mat, polemat;
+
+	mat[0] = normalize(MT_cross(dir, up));
+	mat[1] = MT_cross(mat[0], dir);
+	mat[2] = -dir;
+
+	polemat[0] = normalize(MT_cross(poledir, poleup));
+	polemat[1] = MT_cross(polemat[0], poledir);
+	polemat[2] = -poledir;
+
+	if(m_getpoleangle) {
+		// we compute the pole angle that to rotate towards the target
+		m_poleangle = angle(mat[1], polemat[1]);
+
+		if(rootz.dot(mat[1]*cos(m_poleangle) + mat[0]*sin(m_poleangle)) > 0.0f)
+			m_poleangle = -m_poleangle;
+
+		// solve again, with the pole angle we just computed
+		m_getpoleangle = false;
+		ConstrainPoleVector(root, tasks);
+	}
+	else {
+		// now we set as root matrix the difference between the current and
+		// desired rotation based on the pole vector constraint. we use
+		// transpose instead of inverse because we have orthogonal matrices
+		// anyway, and in case of a singular matrix we don't get NaN's.
+		MT_Transform trans(MT_Point3(0, 0, 0), polemat.transposed()*mat);
+		m_rootmatrix = trans*m_rootmatrix;
+	}
+}
+
 bool IK_QJacobianSolver::UpdateAngles(MT_Scalar& norm)
 {
 	// assing each segment a unique id for the jacobian
@@ -181,15 +293,17 @@ bool IK_QJacobianSolver::Solve(
 	const int max_iterations
 )
 {
+	bool solved = false;
 	//double dt = analyze_time();
 
-	if (!Setup(root, tasks))
-		return false;
+	ConstrainPoleVector(root, tasks);
+
+	root->UpdateTransform(m_rootmatrix);
 
 	// iterate
 	for (int iterations = 0; iterations < max_iterations; iterations++) {
 		// update transform
-		root->UpdateTransform(MT_Transform::Identity());
+		root->UpdateTransform(m_rootmatrix);
 
 		std::list<IK_QTask*>::iterator task;
 
@@ -211,7 +325,7 @@ bool IK_QJacobianSolver::Solve(
 					m_jacobian.SubTask(m_jacobian_sub);
 			}
 			catch (...) {
-				printf("IK Exception\n");
+				fprintf(stderr, "IK Exception\n");
 				return false;
 			}
 
@@ -230,12 +344,19 @@ bool IK_QJacobianSolver::Solve(
 
 		// check for convergence
 		if (norm < 1e-3) {
+			solved = true;
+			break;
 			//analyze_add_run(iterations, analyze_time()-dt);
+
 			return true;
 		}
 	}
 
+	if(m_poleconstraint)
+		root->PrependBasis(m_rootmatrix.getBasis());
+
 	//analyze_add_run(max_iterations, analyze_time()-dt);
-	return false;
+
+	return solved;
 }
 
diff --git a/intern/iksolver/intern/IK_QJacobianSolver.h b/intern/iksolver/intern/IK_QJacobianSolver.h
index adf95eb82dc..bc3d1686b59 100644
--- a/intern/iksolver/intern/IK_QJacobianSolver.h
+++ b/intern/iksolver/intern/IK_QJacobianSolver.h
@@ -43,6 +43,7 @@
 #include <list>
 
 #include "MT_Vector3.h"
+#include "MT_Transform.h"
 #include "IK_QJacobian.h"
 #include "IK_QSegment.h"
 #include "IK_QTask.h"
@@ -50,11 +51,18 @@
 class IK_QJacobianSolver
 {
 public:
-	IK_QJacobianSolver() {};
+	IK_QJacobianSolver();
 	~IK_QJacobianSolver() {};
 
-	// returns true if converged, false if max number of iterations was used
+	// setup pole vector constraint
+	void SetPoleVectorConstraint(IK_QSegment *tip, MT_Vector3& goal,
+		MT_Vector3& polegoal, float poleangle, bool getangle);
+	float GetPoleAngle() { return m_poleangle; };
+
+	// call setup once before solving, if it fails don't solve
+	bool Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks);
 
+	// returns true if converged, false if max number of iterations was used
 	bool Solve(
 		IK_QSegment *root,
 		std::list<IK_QTask*> tasks,
@@ -64,8 +72,8 @@ public:
 
 private:
 	void AddSegmentList(IK_QSegment *seg);
-	bool Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks);
 	bool UpdateAngles(MT_Scalar& norm);
+	void ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask*>& tasks);
 
 private:
 
@@ -75,6 +83,15 @@ private:
 	bool m_secondary_enabled;
 
 	std::vector<IK_QSegment*> m_segments;
+
+	MT_Transform m_rootmatrix;
+
+	bool m_poleconstraint;
+	bool m_getpoleangle;
+	MT_Vector3 m_goal;
+	MT_Vector3 m_polegoal;
+	float m_poleangle;
+	IK_QSegment *m_poletip;
 };
 
 #endif
diff --git a/intern/iksolver/intern/IK_QSegment.cpp b/intern/iksolver/intern/IK_QSegment.cpp
index cf9e1615d8c..1855c1e3db3 100644
--- a/intern/iksolver/intern/IK_QSegment.cpp
+++ b/intern/iksolver/intern/IK_QSegment.cpp
@@ -236,6 +236,18 @@ IK_QSegment::IK_QSegment(int num_DoF, bool translational)
 	m_orig_translation = m_translation;
 }
 
+void IK_QSegment::Reset()
+{
+	m_locked[0] = m_locked[1] = m_locked[2] = false;
+
+	m_basis = m_orig_basis;
+	m_translation = m_orig_translation;
+	SetBasis(m_basis);
+
+	for (IK_QSegment *seg = m_child; seg; seg = seg->m_sibling)
+		seg->Reset();
+}
+
 void IK_QSegment::SetTransform(
 	const MT_Vector3& start,
 	const MT_Matrix3x3& rest_basis,
@@ -326,6 +338,11 @@ void IK_QSegment::UpdateTransform(const MT_Transform& global)
 		seg->UpdateTransform(m_global_transform);
 }
 
+void IK_QSegment::PrependBasis(const MT_Matrix3x3& mat)
+{
+	m_basis = m_rest_basis.inverse() * mat * m_rest_basis * m_basis;
+}
+
 // IK_QSphericalSegment
 
 IK_QSphericalSegment::IK_QSphericalSegment()
diff --git a/intern/iksolver/intern/IK_QSegment.h b/intern/iksolver/intern/IK_QSegment.h
index e406585bc8b..ca0abafb06a 100644
--- a/intern/iksolver/intern/IK_QSegment.h
+++ b/intern/iksolver/intern/IK_QSegment.h
@@ -165,6 +165,10 @@ public:
 
 	virtual void SetBasis(const MT_Matrix3x3& basis) { m_basis = basis; }
 
+	// functions needed for pole vector constraint
+	void PrependBasis(const MT_Matrix3x3& mat);
+	void Reset();
+
 protected:
 
 	// num_DoF: number of degrees of freedom
diff --git a/intern/iksolver/intern/IK_QTask.h b/intern/iksolver/intern/IK_QTask.h
index 0e00925d908..26beaa38622 100644
--- a/intern/iksolver/intern/IK_QTask.h
+++ b/intern/iksolver/intern/IK_QTask.h
@@ -75,6 +75,8 @@ public:
 
 	virtual MT_Scalar Distance() const=0;
 
+	virtual bool PositionTask() const { return false; }
+
 protected:
 	int m_id;
 	int m_size;
@@ -97,6 +99,8 @@ public:
 
 	MT_Scalar Distance() const;
 
+	bool PositionTask() const { return true; }
+
 private:
 	MT_Vector3 m_goal;
 	MT_Scalar m_clamp_length;
diff --git a/intern/iksolver/intern/IK_Solver.cpp b/intern/iksolver/intern/IK_Solver.cpp
index 919eeb739ce..b2d75d783c6 100644
--- a/intern/iksolver/intern/IK_Solver.cpp
+++ b/intern/iksolver/intern/IK_Solver.cpp
@@ -318,6 +318,31 @@ void IK_SolverAddGoalOrientation(IK_Solver *solver, IK_Segment *tip, float goal[
 	qsolver->tasks.push_back(orient);
 }
 
+void IK_SolverSetPoleVectorConstraint(IK_Solver *solver, IK_Segment *tip, float goal[3], float polegoal[3], float poleangle, int getangle)
+{
+	if (solver == NULL || tip == NULL)
+		return;
+
+	IK_QSolver *qsolver = (IK_QSolver*)solver;
+	IK_QSegment *qtip = (IK_QSegment*)tip;
+
+	MT_Vector3 qgoal(goal);
+	MT_Vector3 qpolegoal(polegoal);
+
+	qsolver->solver.SetPoleVectorConstraint(
+		qtip, qgoal, qpolegoal, poleangle, getangle);
+}
+
+float IK_SolverGetPoleAngle(IK_Solver *solver)
+{
+	if (solver == NULL)
+		return 0.0f;
+
+	IK_QSolver *qsolver = (IK_QSolver*)solver;
+
+	return qsolver->solver.GetPoleAngle();
+}
+
 void IK_SolverAddCenterOfMass(IK_Solver *solver, IK_Segment *root, float goal[3], float weight)
 {
 	if (solver == NULL || root == NULL)
@@ -346,6 +371,9 @@ int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations)
 	std::list<IK_QTask*>& tasks = qsolver->tasks;
 	MT_Scalar tol = tolerance;
 
+	if(!jacobian.Setup(root, tasks))
+		return 0;
+
 	bool result = jacobian.Solve(root, tasks, tol, max_iterations);
 
 	return ((result)? 1: 0);
diff --git a/source/blender/blenkernel/BKE_constraint.h b/source/blender/blenkernel/BKE_constraint.h
index 40fd8c5ed18..aa8e9cf18f8 100644
--- a/source/blender/blenkernel/BKE_constraint.h
+++ b/source/blender/blenkernel/BKE_constraint.h
@@ -126,14 +126,13 @@ void copy_constraint_channels(struct ListBase *dst, struct ListBase *src);
 void clone_constraint_channels(struct ListBase *dst, struct ListBase *src);
 void free_constraint_channels(struct ListBase *chanbase);
 
-
 /* Constraint Evaluation function prototypes */
 struct bConstraintOb *constraints_make_evalob(struct Object *ob, void *subdata, short datatype);
 void constraints_clear_evalob(struct bConstraintOb *cob);
 
 void constraint_mat_convertspace(struct Object *ob, struct bPoseChannel *pchan, float mat[][4], short from, short to);
 
-void get_constraint_target_matrix(struct bConstraint *con, short ownertype, void *ownerdata, float mat[][4], float ctime);
+void get_constraint_target_matrix(struct bConstraint *con, int n, short ownertype, void *ownerdata, float mat[][4], float ctime);
 void solve_constraints(struct ListBase *conlist, struct bConstraintOb *cob, float ctime);
 
 
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index 09a7b2a8dcc..38a6a05017c 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -1512,7 +1512,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 	IK_Segment *seg, *parent, **iktree, *iktarget;
 	IK_Solver *solver;
 	PoseTarget *target;
-	bKinematicConstraint *data;
+	bKinematicConstraint *data, *poleangledata=NULL;
 	Bone *bone;
 
 	if (tree->totchannel == 0)
@@ -1624,12 +1624,15 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 	Mat4Invert (goalinv, imat);
 	
 	for (target=tree->targets.first; target; target=target->next) {
+		float polepos[3];
+		int poleconstrain= 0;
+
 		data= (bKinematicConstraint*)target->con->data;
 		
 		/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
 		 * strictly speaking, it is a posechannel)
 		 */
-		get_constraint_target_matrix(target->con, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+		get_constraint_target_matrix(target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
 		
 		/* and set and transform goal */
 		Mat4MulMat4(goal, rootmat, goalinv);
@@ -1637,6 +1640,26 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 		VECCOPY(goalpos, goal[3]);
 		Mat3CpyMat4(goalrot, goal);
 		
+		/* same for pole vector target */
+		if(data->poletar) {
+			get_constraint_target_matrix(target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+
+			if(data->flag & CONSTRAINT_IK_SETANGLE) {
+				/* don't solve IK when we are setting the pole angle */
+				break;
+			}
+			else {
+				Mat4MulMat4(goal, rootmat, goalinv);
+				VECCOPY(polepos, goal[3]);
+				poleconstrain= 1;
+
+				if(data->flag & CONSTRAINT_IK_GETANGLE) {
+					poleangledata= data;
+					data->flag &= ~CONSTRAINT_IK_GETANGLE;
+				}
+			}
+		}
+
 		/* do we need blending? */
 		if (target->con->enforce!=1.0) {
 			float q1[4], q2[4], q[4];
@@ -1664,14 +1687,24 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 		
 		iktarget= iktree[target->tip];
 		
-		if(data->weight != 0.0)
+		if(data->weight != 0.0) {
+			if(poleconstrain)
+				IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
+					polepos, data->poleangle*M_PI/180, (poleangledata == data));
 			IK_SolverAddGoal(solver, iktarget, goalpos, data->weight);
-		if((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0) && (data->flag & CONSTRAINT_IK_AUTO)==0)
-			IK_SolverAddGoalOrientation(solver, iktarget, goalrot, data->orientweight);
+		}
+		if((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0))
+			if((data->flag & CONSTRAINT_IK_AUTO)==0)
+				IK_SolverAddGoalOrientation(solver, iktarget, goalrot,
+					data->orientweight);
 	}
 
 	/* solve */
 	IK_Solve(solver, 0.0f, tree->iterations);
+
+	if(poleangledata)
+		poleangledata->poleangle= IK_SolverGetPoleAngle(solver)*180/M_PI;
+
 	IK_FreeSolver(solver);
 
 	/* gather basis changes */
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 9dce9c3a611..a8305a7dec1 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -804,12 +804,12 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGET_GET_TARS(con, data, ct, list) \
+#define SINGLETARGET_GET_TARS(con, datatar, datasubtarget, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 		 \
-		ct->tar= data->tar; \
-		strcpy(ct->subtarget, data->subtarget); \
+		ct->tar= datatar; \
+		strcpy(ct->subtarget, datasubtarget); \
 		ct->space= con->tarspace; \
 		ct->flag= CONSTRAINT_TAR_TEMP; \
 		 \
@@ -827,11 +827,11 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGETNS_GET_TARS(con, data, ct, list) \
+#define SINGLETARGETNS_GET_TARS(con, datatar, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 		 \
-		ct->tar= data->tar; \
+		ct->tar= datatar; \
 		ct->space= con->tarspace; \
 		ct->flag= CONSTRAINT_TAR_TEMP; \
 		 \
@@ -845,16 +845,16 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy) \
+#define SINGLETARGET_FLUSH_TARS(con, datatar, datasubtarget, ct, list, nocopy) \
 	{ \
 		if (ct) { \
 			if (nocopy == 0) { \
-				data->tar= ct->tar; \
-				strcpy(data->subtarget, ct->subtarget); \
+				datatar= ct->tar; \
+				strcpy(datasubtarget, ct->subtarget); \
 				con->tarspace= ct->space; \
 			} \
 			 \
-			BLI_freelistN(list); \
+			BLI_freelinkN(list, ct); \
 		} \
 	}
 	
@@ -863,15 +863,15 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy) \
+#define SINGLETARGETNS_FLUSH_TARS(con, datatar, ct, list, nocopy) \
 	{ \
 		if (ct) { \
 			if (nocopy == 0) { \
-				data->tar= ct->tar; \
+				datatar= ct->tar; \
 				con->tarspace= ct->space; \
 			} \
 			 \
-			BLI_freelistN(list); \
+			BLI_freelinkN(list, ct); \
 		} \
 	}
  
@@ -894,7 +894,7 @@ static void childof_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -905,7 +905,7 @@ static void childof_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -992,7 +992,7 @@ static void trackto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1003,7 +1003,7 @@ static void trackto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1169,7 +1169,8 @@ static void kinematic_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
+		SINGLETARGET_GET_TARS(con, data->poletar, data->polesubtarget, ct, list)
 	}
 }
 
@@ -1180,7 +1181,9 @@ static void kinematic_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
+		ct= ct->next;
+		SINGLETARGET_FLUSH_TARS(con, data->poletar, data->polesubtarget, ct, list, nocopy)
 	}
 }
 
@@ -1245,7 +1248,7 @@ static void followpath_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -1256,7 +1259,7 @@ static void followpath_flush_tars (bConstraint *con, ListBase *list, short nocop
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -1283,7 +1286,7 @@ static void followpath_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstr
 		
 		if (cu->path && cu->path->data) {
 			curvetime= bsystem_time(ct->tar, (float)ctime, 0.0) - data->offset;
-			
+
 			if (calc_ipo_spec(cu->ipo, CU_SPEED, &curvetime)==0) {
 				curvetime /= cu->pathlen;
 				CLAMP(curvetime, 0.0, 1.0);
@@ -1546,7 +1549,7 @@ static void loclike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1557,7 +1560,7 @@ static void loclike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1661,7 +1664,7 @@ static void rotlike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1672,7 +1675,7 @@ static void rotlike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1749,7 +1752,7 @@ static void sizelike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1760,7 +1763,7 @@ static void sizelike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1928,7 +1931,7 @@ static void actcon_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1939,7 +1942,7 @@ static void actcon_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2068,7 +2071,7 @@ static void locktrack_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2079,7 +2082,7 @@ static void locktrack_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2419,7 +2422,7 @@ static void stretchto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2430,7 +2433,7 @@ static void stretchto_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2595,7 +2598,7 @@ static void minmax_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2606,7 +2609,7 @@ static void minmax_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2725,7 +2728,7 @@ static void rbj_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -2736,7 +2739,7 @@ static void rbj_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -2764,7 +2767,7 @@ static void clampto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -2775,7 +2778,7 @@ static void clampto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -2937,7 +2940,7 @@ static void transform_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2948,7 +2951,7 @@ static void transform_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -3225,7 +3228,7 @@ void copy_constraints (ListBase *dst, ListBase *src)
  * None of the actual calculations of the matricies should be done here! Also, this function is 
  * not to be used by any new constraints, particularly any that have multiple targets.
  */
-void get_constraint_target_matrix (bConstraint *con, short ownertype, void *ownerdata, float mat[][4], float ctime)
+void get_constraint_target_matrix (bConstraint *con, int n, short ownertype, void *ownerdata, float mat[][4], float ctime)
 {
 	bConstraintTypeInfo *cti= constraint_get_typeinfo(con);
 	ListBase targets = {NULL, NULL};
@@ -3272,6 +3275,9 @@ void get_constraint_target_matrix (bConstraint *con, short ownertype, void *owne
 		
 		/* only calculate the target matrix on the first target */
 		ct= (bConstraintTarget *)targets.first;
+		while(ct && n-- > 0)
+			ct= ct->next;
+
 		if (ct) {
 			if (cti->get_target_matrix)
 				cti->get_target_matrix(con, cob, ct, ctime);
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index e1d538a54da..2293fbef0b5 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -1664,6 +1664,7 @@ static void lib_link_constraints(FileData *fd, ID *id, ListBase *conlist)
 				bKinematicConstraint *data;
 				data = ((bKinematicConstraint*)con->data);
 				data->tar = newlibadr(fd, id->lib, data->tar);
+				data->poletar = newlibadr(fd, id->lib, data->poletar);
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
@@ -7289,6 +7290,7 @@ static void expand_constraints(FileData *fd, Main *mainvar, ListBase *lb)
 			{
 				bKinematicConstraint *data = (bKinematicConstraint*)curcon->data;
 				expand_doit(fd, mainvar, data->tar);
+				expand_doit(fd, mainvar, data->poletar);
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index e06063a11a1..431ef56e1c4 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -125,10 +125,13 @@ typedef struct bKinematicConstraint {
 	int			rootbone;	/* index to rootbone, if zero go all the way to mother bone */
 	char		subtarget[32];	/* String to specify sub-object target */
 
+	Object		*poletar;			/* Pole vector target */
+	char		polesubtarget[32];	/* Pole vector sub-object target */
+	float		poleangle;			/* Pole vector rest angle */
+
 	float		weight;			/* Weight of goal in IK tree */
 	float		orientweight;	/* Amount of rotation a target applies on chain */
 	float		grabtarget[3];	/* for target-less IK */
-	int			pad;
 } bKinematicConstraint;
 
 /* Track To Constraint */
@@ -439,6 +442,8 @@ typedef enum B_CONSTRAINTCHANNEL_FLAG {
 #define CONSTRAINT_IK_TEMP		8
 #define CONSTRAINT_IK_STRETCH	16
 #define CONSTRAINT_IK_POS		32
+#define CONSTRAINT_IK_SETANGLE	64
+#define CONSTRAINT_IK_GETANGLE	128
 
 /* MinMax (floor) flags */
 #define MINMAX_STICKY	0x01
diff --git a/source/blender/src/buttons_object.c b/source/blender/src/buttons_object.c
index 94a40a7ebb6..35db9294af1 100644
--- a/source/blender/src/buttons_object.c
+++ b/source/blender/src/buttons_object.c
@@ -410,6 +410,24 @@ void autocomplete_vgroup(char *str, void *arg_v)
 	}
 }
 
+/* pole angle callback */
+void con_kinematic_set_pole_angle(void *ob_v, void *con_v)
+{
+	bConstraint *con= con_v;
+	bKinematicConstraint *data = con->data;
+
+	if(data->poletar) {
+		if(data->flag & CONSTRAINT_IK_SETANGLE) {
+			data->flag |= CONSTRAINT_IK_GETANGLE;
+			data->flag &= ~CONSTRAINT_IK_SETANGLE;
+		}
+		else {
+			data->flag &= ~CONSTRAINT_IK_GETANGLE;
+			data->flag |= CONSTRAINT_IK_SETANGLE;
+		}
+	}
+}
+
 /* some commonly used macros in the constraints drawing code */
 #define is_armature_target(target) (target && target->type==OB_ARMATURE)
 #define is_armature_owner(ob) ((ob->type == OB_ARMATURE) && (ob->flag & OB_POSEMODE))
@@ -878,47 +896,76 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
 			{
 				bKinematicConstraint *data = con->data;
 				
-				height = 111;
+				height = 146;
+				if(data->poletar) 
+					height += 30;
+
 				uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, ""); 
 				
-				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Target:", *xco+65, *yco-24, 50, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
+				/* IK Target */
+				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Target:", *xco, *yco-24, 50, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
 				
 				/* Draw target parameters */
-				uiDefButBitS(block, TOG, CONSTRAINT_IK_ROT, B_CONSTRAINT_TEST, "Rot", *xco, *yco-24,60,19, &data->flag, 0, 0, 0, 0, "Chain follows rotation of target");
-				
 				uiBlockBeginAlign(block);
-					uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco+120, *yco-24, 135, 19, &data->tar, "Target Object"); 
-					
-					if (is_armature_target(data->tar)) {
-						but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco+120, *yco-42,135,19, &data->subtarget, 0, 24, 0, 0, "Subtarget Bone");
-						uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->tar);
-					}
-					else if (is_geom_target(data->tar)) {
-						but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco+120, *yco-42,135,18, &data->subtarget, 0, 24, 0, 0, "Name of Vertex Group defining 'target' points");
-						uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->tar);
-					}
-					else {
-						strcpy(data->subtarget, "");
-					}
+				uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco, *yco-44, 137, 19, &data->tar, "Target Object"); 
+
+				if (is_armature_target(data->tar)) {
+					but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco, *yco-62,137,19, &data->subtarget, 0, 24, 0, 0, "Subtarget Bone");
+					uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->tar);
+				}
+				else if (is_geom_target(data->tar)) {
+					but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco, *yco-62,137,18, &data->subtarget, 0, 24, 0, 0, "Name of Vertex Group defining 'target' points");
+					uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->tar);
+				}
+				else {
+					strcpy (data->subtarget, "");
+				}
+
 				uiBlockEndAlign(block);
-				
+
+				/* Settings */
 				uiBlockBeginAlign(block);
-					uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tail", *xco, *yco-64, 137, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tail as last element in Chain");
-					uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco, *yco-84,137,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
-				uiBlockEndAlign(block);
-				
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tail", *xco, *yco-92, 137, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tail als last element in Chain");
+				uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco, *yco-112,137,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
+
 				uiBlockBeginAlign(block);
-					uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco+147, *yco-64, 137, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
-					uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "RotW ", *xco+147, *yco-84, 137, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
-				uiBlockEndAlign(block);
-				
+				uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco+147, *yco-92, 137, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_ROT, B_CONSTRAINT_TEST, "Rot", *xco+147, *yco-112, 40,19, &data->flag, 0, 0, 0, 0, "Chain follows rotation of target");
+				uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "W ", *xco+187, *yco-112, 97, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
+
 				uiBlockBeginAlign(block);
-					uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco, *yco-109, 137, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations"); 
-				uiBlockEndAlign(block);
-				
+
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_STRETCH, B_CONSTRAINT_TEST, "Stretch", *xco, *yco-137,137,19, &data->flag, 0, 0, 0, 0, "Enable IK stretching");
 				uiBlockBeginAlign(block);
-					uiDefButBitS(block, TOG, CONSTRAINT_IK_STRETCH, B_CONSTRAINT_TEST, "Stretch", *xco+147, *yco-109,137,19, &data->flag, 0, 0, 0, 0, "Enable IK stretching");
+				uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco+147, *yco-137, 137, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations"); 
 				uiBlockEndAlign(block);
+
+				/* Pole Vector */
+				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Pole Target:", *xco+147, *yco-24, 100, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
+
+				uiBlockBeginAlign(block);
+				uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco+147, *yco-44, 137, 19, &data->poletar, "Pole Target Object"); 
+				if (is_armature_target(data->poletar)) {
+					but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco+147, *yco-62,137,19, &data->polesubtarget, 0, 24, 0, 0, "Pole Subtarget Bone");
+					uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->poletar);
+				}
+				else if (is_geom_target(data->poletar)) {
+					but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco+147, *yco-62,137,18, &data->polesubtarget, 0, 24, 0, 0, "Name of Vertex Group defining pole 'target' points");
+					uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->poletar);
+				}
+				else {
+					strcpy (data->polesubtarget, "");
+				}
+	
+				if(data->poletar) {
+					uiBlockBeginAlign(block);
+#if 0
+					but = uiDefBut(block, BUT, B_CONSTRAINT_TEST, (data->flag & CONSTRAINT_IK_SETANGLE)? "Set Pole Offset": "Clear Pole Offset", *xco, *yco-167, 137, 19, 0, 0.0, 1.0, 0.0, 0.0, "Set the pole rotation offset from the current pose");
+					uiButSetFunc(but, con_kinematic_set_pole_angle, ob, con);
+					if(!(data->flag & CONSTRAINT_IK_SETANGLE))
+#endif
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pole Offset ", *xco, *yco-167, 137, 19, &data->poleangle, -180.0, 180.0, 0, 0, "Pole rotation offset");
+				}
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
diff --git a/source/blender/src/editconstraint.c b/source/blender/src/editconstraint.c
index 0360c4add18..e0588b4c2a0 100644
--- a/source/blender/src/editconstraint.c
+++ b/source/blender/src/editconstraint.c
@@ -417,18 +417,26 @@ static void test_constraints (Object *owner, const char substring[])
 				case CONSTRAINT_TYPE_KINEMATIC:
 				{
 					bKinematicConstraint *data = curcon->data;
+
 					if (!exist_object(data->tar)) {
 						data->tar = NULL;
 						curcon->flag |= CONSTRAINT_DISABLE;
-						break;
 					}
-					
-					if ( (data->tar == owner) &&
+					else if ( (data->tar == owner) &&
 						 (!get_named_bone(get_armature(owner), 
 										  data->subtarget))) {
 						curcon->flag |= CONSTRAINT_DISABLE;
-						break;
 					}
+
+					if (data->poletar && !exist_object(data->poletar)) {
+						data->poletar = NULL;
+					}
+					else if ( (data->poletar == owner) &&
+						 (!get_named_bone(get_armature(owner), 
+										  data->polesubtarget))) {
+						curcon->flag |= CONSTRAINT_DISABLE;
+					}
+
 				}
 					break;
 				case CONSTRAINT_TYPE_TRACKTO:
@@ -816,7 +824,7 @@ void add_constraint(int only_IK)
 		set_constraint_nth_target(con, ob, pchansel->name, 0);
 	}
 	else if(obsel) {
-		set_constraint_nth_target(con, obsel, NULL, 0);
+		set_constraint_nth_target(con, obsel, "", 0);
 	}
 	else if (ELEM4(nr, 11, 13, 14, 15)==0) {	/* add new empty as target */
 		Base *base= BASACT, *newbase;
@@ -838,7 +846,7 @@ void add_constraint(int only_IK)
 		else
 			VECCOPY(obt->loc, ob->obmat[3]);
 		
-		set_constraint_nth_target(con, obt, NULL, 0);
+		set_constraint_nth_target(con, obt, "", 0);
 		
 		/* restore, add_object sets active */
 		BASACT= base;
diff --git a/source/blender/src/editobject.c b/source/blender/src/editobject.c
index 1c9cf15bc7e..997593b30b1 100644
--- a/source/blender/src/editobject.c
+++ b/source/blender/src/editobject.c
@@ -1416,7 +1416,7 @@ void make_parent(void)
 						
 						add_constraint_to_object(con, base->object);
 						
-						get_constraint_target_matrix(con, CONSTRAINT_OBTYPE_OBJECT, NULL, cmat, G.scene->r.cfra - base->object->sf);
+						get_constraint_target_matrix(con, 0, CONSTRAINT_OBTYPE_OBJECT, NULL, cmat, G.scene->r.cfra - base->object->sf);
 						VecSubf(vec, base->object->obmat[3], cmat[3]);
 						
 						base->object->loc[0] = vec[0];