Merging trunk up to r38932.

7 files changed, 722 insertions, 528 deletions

diff --git a/source/blender/editors/space_view3d/view3d_draw.c b/source/blender/editors/space_view3d/view3d_draw.c
index d2ff6eef097..6e3f6549ba3 100644
--- a/source/blender/editors/space_view3d/view3d_draw.c
+++ b/source/blender/editors/space_view3d/view3d_draw.c
@@ -675,6 +675,104 @@ static void draw_view_axis(RegionView3D *rv3d)
 	glDisable(GL_BLEND);
 }
 
+/* draw center and axis of rotation for ongoing 3D mouse navigation */
+static void draw_rotation_guide(RegionView3D *rv3d)
+{
+	float o[3]; // center of rotation
+	float end[3]; // endpoints for drawing
+
+	float color[4] = {0.f ,0.4235f, 1.f, 1.f}; // bright blue so it matches device LEDs
+
+	negate_v3_v3(o, rv3d->ofs);
+
+	glEnable(GL_BLEND);
+	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+	glShadeModel(GL_SMOOTH);
+	glPointSize(5);
+	glEnable(GL_POINT_SMOOTH);
+	glDepthMask(0); // don't overwrite zbuf
+
+	if (rv3d->rot_angle != 0.f) {
+		// -- draw rotation axis --
+		float scaled_axis[3];
+		const float scale = rv3d->dist;
+		mul_v3_v3fl(scaled_axis, rv3d->rot_axis, scale);
+	
+		glBegin(GL_LINE_STRIP);
+			color[3] = 0.f; // more transparent toward the ends
+			glColor4fv(color);
+			add_v3_v3v3(end, o, scaled_axis);
+			glVertex3fv(end);
+	
+			// color[3] = 0.2f + fabsf(rv3d->rot_angle); // modulate opacity with angle
+			// ^^ neat idea, but angle is frame-rate dependent, so it's usually close to 0.2
+
+			color[3] = 0.5f; // more opaque toward the center
+			glColor4fv(color);
+			glVertex3fv(o);
+	
+			color[3] = 0.f;
+			glColor4fv(color);
+			sub_v3_v3v3(end, o, scaled_axis);
+			glVertex3fv(end);
+		glEnd();
+		
+		// -- draw ring around rotation center --
+		{
+		#define ROT_AXIS_DETAIL 13
+		const float s = 0.05f * scale;
+		const float step = 2.f * M_PI / ROT_AXIS_DETAIL;
+		float angle;
+		int i;
+
+		float q[4]; // rotate ring so it's perpendicular to axis
+		const int upright = fabsf(rv3d->rot_axis[2]) >= 0.95f;
+		if (!upright)
+			{
+			const float up[3] = {0.f, 0.f, 1.f};
+			float vis_angle, vis_axis[3];
+
+			cross_v3_v3v3(vis_axis, up, rv3d->rot_axis);
+			vis_angle = acosf(dot_v3v3(up, rv3d->rot_axis));
+			axis_angle_to_quat(q, vis_axis, vis_angle);
+			}
+
+		color[3] = 0.25f; // somewhat faint
+		glColor4fv(color);
+		glBegin(GL_LINE_LOOP);
+		for (i = 0, angle = 0.f; i < ROT_AXIS_DETAIL; ++i, angle += step)
+			{
+			float p[3] = { s * cosf(angle), s * sinf(angle), 0.f };
+
+			if (!upright)
+				mul_qt_v3(q, p);
+
+			add_v3_v3(p, o);
+			glVertex3fv(p);
+			}
+		glEnd();
+		}
+
+		color[3] = 1.f; // solid dot
+	}
+	else
+		color[3] = 0.5f; // see-through dot
+
+	// -- draw rotation center --
+	glColor4fv(color);
+	glBegin(GL_POINTS);
+		glVertex3fv(o);
+	glEnd();
+
+	// find screen coordinates for rotation center, then draw pretty icon
+	// mul_m4_v3(rv3d->persinv, rot_center);
+	// UI_icon_draw(rot_center[0], rot_center[1], ICON_NDOF_TURN);
+	// ^^ just playing around, does not work
+
+	glDisable(GL_BLEND);
+	glDisable(GL_POINT_SMOOTH);
+	glDepthMask(1);
+}
 
 static void draw_view_icon(RegionView3D *rv3d)
 {
@@ -2618,6 +2716,10 @@ void view3d_main_area_draw(const bContext *C, ARegion *ar)
 		BDR_drawSketch(C);
 	}
 
+	if ((U.ndof_flag & NDOF_SHOW_GUIDE) && (rv3d->viewlock != RV3D_LOCKED) && (rv3d->persp != RV3D_CAMOB))
+		// TODO: draw something else (but not this) during fly mode
+		draw_rotation_guide(rv3d);
+
 	ED_region_pixelspace(ar);
 	
 //	retopo_paint_view_update(v3d);
diff --git a/source/blender/editors/space_view3d/view3d_edit.c b/source/blender/editors/space_view3d/view3d_edit.c
index d563c07baf3..e6fd9e8867b 100644
--- a/source/blender/editors/space_view3d/view3d_edit.c
+++ b/source/blender/editors/space_view3d/view3d_edit.c
@@ -928,6 +928,244 @@ void VIEW3D_OT_rotate(wmOperatorType *ot)
 	ot->flag= OPTYPE_BLOCKING|OPTYPE_GRAB_POINTER;
 }
 
+// NDOF utility functions
+// (should these functions live in this file?)
+float ndof_to_axis_angle(struct wmNDOFMotionData* ndof, float axis[3])
+{
+	return ndof->dt * normalize_v3_v3(axis, ndof->rvec);
+}
+
+void ndof_to_quat(struct wmNDOFMotionData* ndof, float q[4])
+{
+	float axis[3];
+	float angle;
+
+	angle= ndof_to_axis_angle(ndof, axis);
+	axis_angle_to_quat(q, axis, angle);
+}
+
+static int ndof_orbit_invoke(bContext *C, wmOperator *UNUSED(op), wmEvent *event)
+// -- "orbit" navigation (trackball/turntable)
+// -- zooming
+// -- panning in rotationally-locked views
+{
+	RegionView3D* rv3d = CTX_wm_region_view3d(C);
+	wmNDOFMotionData* ndof = (wmNDOFMotionData*) event->customdata;
+
+	rv3d->rot_angle = 0.f; // off by default, until changed later this function
+
+	if (ndof->progress != P_FINISHING) {
+		const float dt = ndof->dt;
+	
+		// tune these until everything feels right
+		const float rot_sensitivity = 1.f;
+		const float zoom_sensitivity = 1.f;
+		const float pan_sensitivity = 1.f;
+	
+		// rather have bool, but...
+		int has_rotation = rv3d->viewlock != RV3D_LOCKED && !is_zero_v3(ndof->rvec);
+	
+		float view_inv[4];
+		invert_qt_qt(view_inv, rv3d->viewquat);
+	
+		//#define DEBUG_NDOF_MOTION
+		#ifdef DEBUG_NDOF_MOTION
+		printf("ndof: T=(%.2f,%.2f,%.2f) R=(%.2f,%.2f,%.2f) dt=%.3f delivered to 3D view\n",
+			ndof->tx, ndof->ty, ndof->tz, ndof->rx, ndof->ry, ndof->rz, ndof->dt);
+		#endif
+	
+		if (ndof->tvec[2]) {
+			// Zoom!
+			// velocity should be proportional to the linear velocity attained by rotational motion of same strength
+			// [got that?]
+			// proportional to arclength = radius * angle
+	
+			float zoom_distance = zoom_sensitivity * rv3d->dist * dt * ndof->tvec[2];
+			rv3d->dist += zoom_distance;
+		}
+	
+		if (rv3d->viewlock == RV3D_LOCKED) {
+			/* rotation not allowed -- explore panning options instead */
+			float pan_vec[3] = {ndof->tvec[0], ndof->tvec[1], 0.0f};
+			mul_v3_fl(pan_vec, pan_sensitivity * rv3d->dist * dt);
+	
+			/* transform motion from view to world coordinates */
+			invert_qt_qt(view_inv, rv3d->viewquat);
+			mul_qt_v3(view_inv, pan_vec);
+	
+			/* move center of view opposite of hand motion (this is camera mode, not object mode) */
+			sub_v3_v3(rv3d->ofs, pan_vec);
+		}
+	
+		if (has_rotation) {
+	
+			const int invert = U.ndof_flag & NDOF_ORBIT_INVERT_AXES;
+	
+			rv3d->view = RV3D_VIEW_USER;
+	
+			if (U.flag & USER_TRACKBALL) {
+				float rot[4];
+	#if 0	// -------------------------- Mike's nifty original version
+				float view_inv_conj[4];
+	
+				ndof_to_quat(ndof, rot);
+				// mul_qt_fl(rot, rot_sensitivity);
+				// ^^ no apparent effect
+	
+				if (invert)
+					invert_qt(rot);
+	
+				copy_qt_qt(view_inv_conj, view_inv);
+				conjugate_qt(view_inv_conj);
+	
+				// transform rotation from view to world coordinates
+				mul_qt_qtqt(rot, view_inv, rot);
+				mul_qt_qtqt(rot, rot, view_inv_conj);
+	#else 	// ---------------------------------------- Mike's revised version
+				float axis[3];
+				float angle = rot_sensitivity * ndof_to_axis_angle(ndof, axis);
+	
+				if (invert)
+					angle = -angle;
+	
+				// transform rotation axis from view to world coordinates
+				mul_qt_v3(view_inv, axis);
+	
+				// update the onscreen doo-dad
+				rv3d->rot_angle = angle;
+				copy_v3_v3(rv3d->rot_axis, axis);
+	
+				axis_angle_to_quat(rot, axis, angle);
+	#endif	// --------------------------------------------
+				// apply rotation
+				mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, rot);
+			} else {
+				/* turntable view code by John Aughey, adapted for 3D mouse by [mce] */
+				float angle, rot[4];
+				float xvec[3] = {1,0,0};
+	
+				/* Determine the direction of the x vector (for rotating up and down) */
+				mul_qt_v3(view_inv, xvec);
+	
+				/* Perform the up/down rotation */
+				angle = rot_sensitivity * dt * ndof->rvec[0];
+				if (invert)
+					angle = -angle;
+				rot[0] = cos(angle);
+				mul_v3_v3fl(rot+1, xvec, sin(angle));
+				mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, rot);
+	
+				/* Perform the orbital rotation */
+				angle = rot_sensitivity * dt * ndof->rvec[1];
+				if (invert)
+					angle = -angle;
+	
+				// update the onscreen doo-dad
+				rv3d->rot_angle = angle;
+				rv3d->rot_axis[0] = 0;
+				rv3d->rot_axis[1] = 0;
+				rv3d->rot_axis[2] = 1;
+	
+				rot[0] = cos(angle);
+				rot[1] = rot[2] = 0.0;
+				rot[3] = sin(angle);
+				mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, rot);
+			}
+		}
+	}
+
+	ED_region_tag_redraw(CTX_wm_region(C));
+
+	return OPERATOR_FINISHED;
+}
+
+void VIEW3D_OT_ndof_orbit(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name = "NDOF Orbit View";
+	ot->description = "Explore every angle of an object using the 3D mouse.";
+	ot->idname = "VIEW3D_OT_ndof_orbit";
+
+	/* api callbacks */
+	ot->invoke = ndof_orbit_invoke;
+	ot->poll = ED_operator_view3d_active;
+
+	/* flags */
+	ot->flag = 0;
+}
+
+static int ndof_pan_invoke(bContext *C, wmOperator *UNUSED(op), wmEvent *event)
+// -- "pan" navigation
+// -- zoom or dolly?
+{
+	RegionView3D* rv3d = CTX_wm_region_view3d(C);
+	wmNDOFMotionData* ndof = (wmNDOFMotionData*) event->customdata;
+
+	rv3d->rot_angle = 0.f; // we're panning here! so erase any leftover rotation from other operators
+
+	if (ndof->progress != P_FINISHING) {
+		const float dt = ndof->dt;
+		float view_inv[4];
+#if 0 // ------------------------------------------- zoom with Z
+		// tune these until everything feels right
+		const float zoom_sensitivity = 1.f;
+		const float pan_sensitivity = 1.f;
+
+		float pan_vec[3] = {
+			ndof->tx, ndof->ty, 0
+			};
+
+		// "zoom in" or "translate"? depends on zoom mode in user settings?
+		if (ndof->tz) {
+			float zoom_distance = zoom_sensitivity * rv3d->dist * dt * ndof->tz;
+			rv3d->dist += zoom_distance;
+		}
+	
+		mul_v3_fl(pan_vec, pan_sensitivity * rv3d->dist * dt);
+#else // ------------------------------------------------------- dolly with Z
+		float speed = 10.f; // blender units per second
+		// ^^ this is ok for default cube scene, but should scale with.. something
+
+		// tune these until everything feels right
+		const float forward_sensitivity = 1.f;
+		const float vertical_sensitivity = 0.4f;
+		const float lateral_sensitivity = 0.6f;
+
+		float pan_vec[3] = {lateral_sensitivity * ndof->tvec[0],
+		                    vertical_sensitivity * ndof->tvec[1],
+		                    forward_sensitivity * ndof->tvec[2]
+		                   };
+
+		mul_v3_fl(pan_vec, speed * dt);
+#endif
+		/* transform motion from view to world coordinates */
+		invert_qt_qt(view_inv, rv3d->viewquat);
+		mul_qt_v3(view_inv, pan_vec);
+
+		/* move center of view opposite of hand motion (this is camera mode, not object mode) */
+		sub_v3_v3(rv3d->ofs, pan_vec);
+	}
+
+	ED_region_tag_redraw(CTX_wm_region(C));
+
+	return OPERATOR_FINISHED;
+}
+
+void VIEW3D_OT_ndof_pan(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name = "NDOF Pan View";
+	ot->description = "Position your viewpoint with the 3D mouse.";
+	ot->idname = "VIEW3D_OT_ndof_pan";
+
+	/* api callbacks */
+	ot->invoke = ndof_pan_invoke;
+	ot->poll = ED_operator_view3d_active;
+
+	/* flags */
+	ot->flag = 0;
+}
+
 /* ************************ viewmove ******************************** */
 
 
@@ -3195,398 +3433,6 @@ int ED_view3d_autodist_depth_seg(struct ARegion *ar, const int mval_sta[2], cons
 	return (*depth==FLT_MAX) ? 0:1;
 }
 
-/* ********************* NDOF ************************ */
-/* note: this code is confusing and unclear... (ton) */
-/* **************************************************** */
-
-// ndof scaling will be moved to user setting.
-// In the mean time this is just a place holder.
-
-// Note: scaling in the plugin and ghostwinlay.c
-// should be removed. With driver default setting,
-// each axis returns approx. +-200 max deflection.
-
-// The values I selected are based on the older
-// polling i/f. With event i/f, the sensistivity
-// can be increased for improved response from
-// small deflections of the device input.
-
-
-// lukep notes : i disagree on the range.
-// the normal 3Dconnection driver give +/-400
-// on defaut range in other applications
-// and up to +/- 1000 if set to maximum
-// because i remove the scaling by delta,
-// which was a bad idea as it depend of the system
-// speed and os, i changed the scaling values, but
-// those are still not ok
-
-#if 0
-static float ndof_axis_scale[6] = {
-	+0.01,	// Tx
-	+0.01,	// Tz
-	+0.01,	// Ty
-	+0.0015,	// Rx
-	+0.0015,	// Rz
-	+0.0015	// Ry
-};
-
-static void filterNDOFvalues(float *sbval)
-{
-	int i=0;
-	float max  = 0.0;
-
-	for (i =0; i<6;i++)
-		if (fabs(sbval[i]) > max)
-			max = fabs(sbval[i]);
-	for (i =0; i<6;i++)
-		if (fabs(sbval[i]) != max )
-			sbval[i]=0.0;
-}
-
-// statics for controlling rv3d->dist corrections.
-// viewmoveNDOF zeros and adjusts rv3d->ofs.
-// viewmove restores based on dz_flag state.
-
-int dz_flag = 0;
-float m_dist;
-
-void viewmoveNDOFfly(ARegion *ar, View3D *v3d, int UNUSED(mode))
-{
-	RegionView3D *rv3d= ar->regiondata;
-	int i;
-	float phi;
-	float dval[7];
-	// static fval[6] for low pass filter; device input vector is dval[6]
-	static float fval[6];
-	float tvec[3],rvec[3];
-	float q1[4];
-	float mat[3][3];
-	float upvec[3];
-
-
-	/*----------------------------------------------------
-	 * sometimes this routine is called from headerbuttons
-	 * viewmove needs to refresh the screen
-	 */
-// XXX	areawinset(ar->win);
-
-
-	// fetch the current state of the ndof device
-// XXX	getndof(dval);
-
-	if (v3d->ndoffilter)
-		filterNDOFvalues(fval);
-
-	// Scale input values
-
-//	if(dval[6] == 0) return; // guard against divide by zero
-
-	for(i=0;i<6;i++) {
-
-		// user scaling
-		dval[i] = dval[i] * ndof_axis_scale[i];
-	}
-
-
-	// low pass filter with zero crossing reset
-
-	for(i=0;i<6;i++) {
-		if((dval[i] * fval[i]) >= 0)
-			dval[i] = (fval[i] * 15 + dval[i]) / 16;
-		else
-			fval[i] = 0;
-	}
-
-
-	// force perspective mode. This is a hack and is
-	// incomplete. It doesn't actually effect the view
-	// until the first draw and doesn't update the menu
-	// to reflect persp mode.
-
-	rv3d->persp = RV3D_PERSP;
-
-
-	// Correct the distance jump if rv3d->dist != 0
-
-	// This is due to a side effect of the original
-	// mouse view rotation code. The rotation point is
-	// set a distance in front of the viewport to
-	// make rotating with the mouse look better.
-	// The distance effect is written at a low level
-	// in the view management instead of the mouse
-	// view function. This means that all other view
-	// movement devices must subtract this from their
-	// view transformations.
-
-	if(rv3d->dist != 0.0) {
-		dz_flag = 1;
-		m_dist = rv3d->dist;
-		upvec[0] = upvec[1] = 0;
-		upvec[2] = rv3d->dist;
-		copy_m3_m4(mat, rv3d->viewinv);
-		mul_m3_v3(mat, upvec);
-		sub_v3_v3(rv3d->ofs, upvec);
-		rv3d->dist = 0.0;
-	}
-
-
-	// Apply rotation
-	// Rotations feel relatively faster than translations only in fly mode, so
-	// we have no choice but to fix that here (not in the plugins)
-	rvec[0] = -0.5 * dval[3];
-	rvec[1] = -0.5 * dval[4];
-	rvec[2] = -0.5 * dval[5];
-
-	// rotate device x and y by view z
-
-	copy_m3_m4(mat, rv3d->viewinv);
-	mat[2][2] = 0.0f;
-	mul_m3_v3(mat, rvec);
-
-	// rotate the view
-
-	phi = normalize_v3(rvec);
-	if(phi != 0) {
-		axis_angle_to_quat(q1,rvec,phi);
-		mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, q1);
-	}
-
-
-	// Apply translation
-
-	tvec[0] = dval[0];
-	tvec[1] = dval[1];
-	tvec[2] = -dval[2];
-
-	// the next three lines rotate the x and y translation coordinates
-	// by the current z axis angle
-
-	copy_m3_m4(mat, rv3d->viewinv);
-	mat[2][2] = 0.0f;
-	mul_m3_v3(mat, tvec);
-
-	// translate the view
-
-	sub_v3_v3(rv3d->ofs, tvec);
-
-
-	/*----------------------------------------------------
-	 * refresh the screen XXX
-	  */
-
-	// update render preview window
-
-// XXX	BIF_view3d_previewrender_signal(ar, PR_DBASE|PR_DISPRECT);
-}
-
-void viewmoveNDOF(Scene *scene, ARegion *ar, View3D *v3d, int UNUSED(mode))
-{
-	RegionView3D *rv3d= ar->regiondata;
-	float fval[7];
-	float dvec[3];
-	float sbadjust = 1.0f;
-	float len;
-	short use_sel = 0;
-	Object *ob = OBACT;
-	float m[3][3];
-	float m_inv[3][3];
-	float xvec[3] = {1,0,0};
-	float yvec[3] = {0,-1,0};
-	float zvec[3] = {0,0,1};
-	float phi;
-	float q1[4];
-	float obofs[3];
-	float reverse;
-	//float diff[4];
-	float d, curareaX, curareaY;
-	float mat[3][3];
-	float upvec[3];
-
-	/* Sensitivity will control how fast the view rotates.  The value was
-	 * obtained experimentally by tweaking until the author didn't get dizzy watching.
-	 * Perhaps this should be a configurable user parameter.
-	 */
-	float psens = 0.005f * (float) U.ndof_pan;   /* pan sensitivity */
-	float rsens = 0.005f * (float) U.ndof_rotate;  /* rotate sensitivity */
-	float zsens = 0.3f;   /* zoom sensitivity */
-
-	const float minZoom = -30.0f;
-	const float maxZoom = 300.0f;
-
-	//reset view type
-	rv3d->view = 0;
-//printf("passing here \n");
-//
-	if (scene->obedit==NULL && ob && !(ob->mode & OB_MODE_POSE)) {
-		use_sel = 1;
-	}
-
-	if((dz_flag)||rv3d->dist==0) {
-		dz_flag = 0;
-		rv3d->dist = m_dist;
-		upvec[0] = upvec[1] = 0;
-		upvec[2] = rv3d->dist;
-		copy_m3_m4(mat, rv3d->viewinv);
-		mul_m3_v3(mat, upvec);
-		add_v3_v3(rv3d->ofs, upvec);
-	}
-
-	/*----------------------------------------------------
-	 * sometimes this routine is called from headerbuttons
-	 * viewmove needs to refresh the screen
-	 */
-// XXX	areawinset(curarea->win);
-
-	/*----------------------------------------------------
-	 * record how much time has passed. clamp at 10 Hz
-	 * pretend the previous frame occurred at the clamped time
-	 */
-//    now = PIL_check_seconds_timer();
- //   frametime = (now - prevTime);
- //   if (frametime > 0.1f){        /* if more than 1/10s */
- //       frametime = 1.0f/60.0;      /* clamp at 1/60s so no jumps when starting to move */
-//    }
-//    prevTime = now;
- //   sbadjust *= 60 * frametime;             /* normalize ndof device adjustments to 100Hz for framerate independence */
-
-	/* fetch the current state of the ndof device & enforce dominant mode if selected */
-// XXX    getndof(fval);
-	if (v3d->ndoffilter)
-		filterNDOFvalues(fval);
-
-
-	// put scaling back here, was previously in ghostwinlay
-	fval[0] = fval[0] * (1.0f/600.0f);
-	fval[1] = fval[1] * (1.0f/600.0f);
-	fval[2] = fval[2] * (1.0f/1100.0f);
-	fval[3] = fval[3] * 0.00005f;
-	fval[4] =-fval[4] * 0.00005f;
-	fval[5] = fval[5] * 0.00005f;
-	fval[6] = fval[6] / 1000000.0f;
-
-	// scale more if not in perspective mode
-	if (rv3d->persp == RV3D_ORTHO) {
-		fval[0] = fval[0] * 0.05f;
-		fval[1] = fval[1] * 0.05f;
-		fval[2] = fval[2] * 0.05f;
-		fval[3] = fval[3] * 0.9f;
-		fval[4] = fval[4] * 0.9f;
-		fval[5] = fval[5] * 0.9f;
-		zsens *= 8;
-	}
-
-	/* set object offset */
-	if (ob) {
-		obofs[0] = -ob->obmat[3][0];
-		obofs[1] = -ob->obmat[3][1];
-		obofs[2] = -ob->obmat[3][2];
-	}
-	else {
-		copy_v3_v3(obofs, rv3d->ofs);
-	}
-
-	/* calc an adjustment based on distance from camera
-	   disabled per patch 14402 */
-	 d = 1.0f;
-
-/*    if (ob) {
-		sub_v3_v3v3(diff, obofs, rv3d->ofs);
-		d = len_v3(diff);
-	}
-*/
-
-	reverse = (rv3d->persmat[2][1] < 0.0f) ? -1.0f : 1.0f;
-
-	/*----------------------------------------------------
-	 * ndof device pan
-	 */
-	psens *= 1.0f + d;
-	curareaX = sbadjust * psens * fval[0];
-	curareaY = sbadjust * psens * fval[1];
-	dvec[0] = curareaX * rv3d->persinv[0][0] + curareaY * rv3d->persinv[1][0];
-	dvec[1] = curareaX * rv3d->persinv[0][1] + curareaY * rv3d->persinv[1][1];
-	dvec[2] = curareaX * rv3d->persinv[0][2] + curareaY * rv3d->persinv[1][2];
-	add_v3_v3(rv3d->ofs, dvec);
-
-	/*----------------------------------------------------
-	 * ndof device dolly
-	 */
-	len = zsens * sbadjust * fval[2];
-
-	if (rv3d->persp==RV3D_CAMOB) {
-		if(rv3d->persp==RV3D_CAMOB) { /* This is stupid, please fix - TODO */
-			rv3d->camzoom+= 10.0f * -len;
-		}
-		if (rv3d->camzoom < minZoom) rv3d->camzoom = minZoom;
-		else if (rv3d->camzoom > maxZoom) rv3d->camzoom = maxZoom;
-	}
-	else if ((rv3d->dist> 0.001*v3d->grid) && (rv3d->dist<10.0*v3d->far)) {
-		rv3d->dist*=(1.0 + len);
-	}
-
-
-	/*----------------------------------------------------
-	 * ndof device turntable
-	 * derived from the turntable code in viewmove
-	 */
-
-	/* Get the 3x3 matrix and its inverse from the quaternion */
-	quat_to_mat3( m,rv3d->viewquat);
-	invert_m3_m3(m_inv,m);
-
-	/* Determine the direction of the x vector (for rotating up and down) */
-	/* This can likely be compuated directly from the quaternion. */
-	mul_m3_v3(m_inv,xvec);
-	mul_m3_v3(m_inv,yvec);
-	mul_m3_v3(m_inv,zvec);
-
-	/* Perform the up/down rotation */
-	phi = sbadjust * rsens * /*0.5f * */ fval[3]; /* spin vertically half as fast as horizontally */
-	q1[0] = cos(phi);
-	mul_v3_v3fl(q1+1, xvec, sin(phi));
-	mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, q1);
-
-	if (use_sel) {
-		conjugate_qt(q1); /* conj == inv for unit quat */
-		sub_v3_v3(rv3d->ofs, obofs);
-		mul_qt_v3(q1, rv3d->ofs);
-		add_v3_v3(rv3d->ofs, obofs);
-	}
-
-	/* Perform the orbital rotation */
-	/* Perform the orbital rotation
-	   If the seen Up axis is parallel to the zoom axis, rotation should be
-	   achieved with a pure Roll motion (no Spin) on the device. When you start
-	   to tilt, moving from Top to Side view, Spinning will increasingly become
-	   more relevant while the Roll component will decrease. When a full
-	   Side view is reached, rotations around the world's Up axis are achieved
-	   with a pure Spin-only motion.  In other words the control of the spinning
-	   around the world's Up axis should move from the device's Spin axis to the
-	   device's Roll axis depending on the orientation of the world's Up axis
-	   relative to the screen. */
-	//phi = sbadjust * rsens * reverse * fval[4];  /* spin the knob, y axis */
-	phi = sbadjust * rsens * (yvec[2] * fval[4] + zvec[2] * fval[5]);
-	q1[0] = cos(phi);
-	q1[1] = q1[2] = 0.0;
-	q1[3] = sin(phi);
-	mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, q1);
-
-	if (use_sel) {
-		conjugate_qt(q1);
-		sub_v3_v3(rv3d->ofs, obofs);
-		mul_qt_v3(q1, rv3d->ofs);
-		add_v3_v3(rv3d->ofs, obofs);
-	}
-
-	/*----------------------------------------------------
-	 * refresh the screen
-	 */
-// XXX    scrarea_do_windraw(curarea);
-}
-#endif // if 0, unused NDof code
-
-
 /* Gets the view trasnformation from a camera
 * currently dosnt take camzoom into account
 *
diff --git a/source/blender/editors/space_view3d/view3d_fly.c b/source/blender/editors/space_view3d/view3d_fly.c
index ed1ed5b3881..046037a092f 100644
--- a/source/blender/editors/space_view3d/view3d_fly.c
+++ b/source/blender/editors/space_view3d/view3d_fly.c
@@ -29,6 +29,9 @@
 
 /* defines VIEW3D_OT_fly modal operator */
 
+//#define NDOF_FLY_DEBUG
+//#define NDOF_FLY_DRAW_TOOMUCH // is this needed for ndof? - commented so redraw doesnt thrash - campbell
+
 #include "DNA_anim_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_object_types.h"
@@ -106,7 +109,7 @@ void fly_modal_keymap(wmKeyConfig *keyconf)
 	wmKeyMap *keymap= WM_modalkeymap_get(keyconf, "View3D Fly Modal");
 
 	/* this function is called for each spacetype, only needs to add map once */
-	if(keymap) return;
+	if (keymap) return;
 
 	keymap= WM_modalkeymap_add(keyconf, "View3D Fly Modal", modal_items);
 
@@ -143,7 +146,6 @@ void fly_modal_keymap(wmKeyConfig *keyconf)
 
 	/* assign map to operators */
 	WM_modalkeymap_assign(keymap, "VIEW3D_OT_fly");
-
 }
 
 typedef struct FlyInfo {
@@ -158,7 +160,9 @@ typedef struct FlyInfo {
 	short state;
 	short use_precision;
 	short redraw;
-	int mval[2];
+
+	int mval[2]; /* latest 2D mouse values */
+	wmNDOFMotionData* ndof; /* latest 3D mouse values */
 
 	/* fly state state */
 	float speed; /* the speed the view is moving per redraw */
@@ -257,17 +261,21 @@ static int initFlyInfo (bContext *C, FlyInfo *fly, wmOperator *op, wmEvent *even
 	fly->ar = CTX_wm_region(C);
 	fly->scene= CTX_data_scene(C);
 
-	if(fly->rv3d->persp==RV3D_CAMOB && fly->v3d->camera->id.lib) {
+#ifdef NDOF_FLY_DEBUG
+	puts("\n-- fly begin --");
+#endif
+
+	if (fly->rv3d->persp==RV3D_CAMOB && fly->v3d->camera->id.lib) {
 		BKE_report(op->reports, RPT_ERROR, "Cannot fly a camera from an external library");
 		return FALSE;
 	}
 
-	if(fly->v3d->ob_centre) {
+	if (fly->v3d->ob_centre) {
 		BKE_report(op->reports, RPT_ERROR, "Cannot fly when the view is locked to an object");
 		return FALSE;
 	}
 
-	if(fly->rv3d->persp==RV3D_CAMOB && fly->v3d->camera->constraints.first) {
+	if (fly->rv3d->persp==RV3D_CAMOB && fly->v3d->camera->constraints.first) {
 		BKE_report(op->reports, RPT_ERROR, "Cannot fly an object with constraints");
 		return FALSE;
 	}
@@ -283,11 +291,15 @@ static int initFlyInfo (bContext *C, FlyInfo *fly, wmOperator *op, wmEvent *even
 	fly->grid= 1.0f;
 	fly->use_precision= 0;
 
+#ifdef NDOF_FLY_DRAW_TOOMUCH
+	fly->redraw= 1;
+#endif
 	fly->dvec_prev[0]= fly->dvec_prev[1]= fly->dvec_prev[2]= 0.0f;
 
 	fly->timer= WM_event_add_timer(CTX_wm_manager(C), CTX_wm_window(C), TIMER, 0.01f);
 
 	VECCOPY2D(fly->mval, event->mval)
+	fly->ndof = NULL;
 
 	fly->time_lastdraw= fly->time_lastwheel= PIL_check_seconds_timer();
 
@@ -307,7 +319,7 @@ static int initFlyInfo (bContext *C, FlyInfo *fly, wmOperator *op, wmEvent *even
 	fly->dist_backup= fly->rv3d->dist;
 	if (fly->rv3d->persp==RV3D_CAMOB) {
 		Object *ob_back;
-		if((U.uiflag & USER_CAM_LOCK_NO_PARENT)==0 && (fly->root_parent=fly->v3d->camera->parent)) {
+		if ((U.uiflag & USER_CAM_LOCK_NO_PARENT)==0 && (fly->root_parent=fly->v3d->camera->parent)) {
 			while(fly->root_parent->parent)
 				fly->root_parent= fly->root_parent->parent;
 			ob_back= fly->root_parent;
@@ -325,12 +337,22 @@ static int initFlyInfo (bContext *C, FlyInfo *fly, wmOperator *op, wmEvent *even
 		negate_v3_v3(fly->rv3d->ofs, fly->v3d->camera->obmat[3]);
 
 		fly->rv3d->dist=0.0;
-	} else {
+	}
+	else {
 		/* perspective or ortho */
 		if (fly->rv3d->persp==RV3D_ORTHO)
 			fly->rv3d->persp= RV3D_PERSP; /*if ortho projection, make perspective */
+
 		copy_qt_qt(fly->rot_backup, fly->rv3d->viewquat);
 		copy_v3_v3(fly->ofs_backup, fly->rv3d->ofs);
+
+		/* the dist defines a vector that is infront of the offset
+		to rotate the view about.
+		this is no good for fly mode because we
+		want to rotate about the viewers center.
+		but to correct the dist removal we must
+		alter offset so the view doesn't jump. */
+
 		fly->rv3d->dist= 0.0f;
 
 		upvec[2]= fly->dist_backup; /*x and y are 0*/
@@ -338,7 +360,6 @@ static int initFlyInfo (bContext *C, FlyInfo *fly, wmOperator *op, wmEvent *even
 		sub_v3_v3(fly->rv3d->ofs, upvec);
 		/*Done with correcting for the dist*/
 	}
-
 	
 	/* center the mouse, probably the UI mafia are against this but without its quite annoying */
 	WM_cursor_warp(CTX_wm_window(C), fly->ar->winrct.xmin + fly->ar->winx/2, fly->ar->winrct.ymin + fly->ar->winy/2);
@@ -353,9 +374,13 @@ static int flyEnd(bContext *C, FlyInfo *fly)
 
 	float upvec[3];
 
-	if(fly->state == FLY_RUNNING)
+	if (fly->state == FLY_RUNNING)
 		return OPERATOR_RUNNING_MODAL;
 
+#ifdef NDOF_FLY_DEBUG
+	puts("\n-- fly end --");
+#endif
+
 	WM_event_remove_timer(CTX_wm_manager(C), CTX_wm_window(C), fly->timer);
 
 	ED_region_draw_cb_exit(fly->ar->type, fly->draw_handle_pixel);
@@ -366,14 +391,14 @@ static int flyEnd(bContext *C, FlyInfo *fly)
 	/* Revert to original view? */
 		if (fly->persp_backup==RV3D_CAMOB) { /* a camera view */
 			Object *ob_back;
-			if(fly->root_parent)ob_back= fly->root_parent;
-			else				ob_back= fly->v3d->camera;
+			ob_back= (fly->root_parent) ? fly->root_parent : fly->v3d->camera;
 
 			/* store the original camera loc and rot */
 			object_tfm_restore(ob_back, fly->obtfm);
 
 			DAG_id_tag_update(&ob_back->id, OB_RECALC_OB);
-		} else {
+		}
+		else {
 			/* Non Camera we need to reset the view back to the original location bacause the user canceled*/
 			copy_qt_qt(rv3d->viewquat, fly->rot_backup);
 			copy_v3_v3(rv3d->ofs, fly->ofs_backup);
@@ -398,10 +423,13 @@ static int flyEnd(bContext *C, FlyInfo *fly)
 	rv3d->rflag &= ~RV3D_NAVIGATING;
 //XXX2.5	BIF_view3d_previewrender_signal(fly->sa, PR_DBASE|PR_DISPRECT); /* not working at the moment not sure why */
 
-	if(fly->obtfm)
+	if (fly->obtfm)
 		MEM_freeN(fly->obtfm);
 
-	if(fly->state == FLY_CONFIRM) {
+	if (fly->ndof)
+		MEM_freeN(fly->ndof);
+
+	if (fly->state == FLY_CONFIRM) {
 		MEM_freeN(fly);
 		return OPERATOR_FINISHED;
 	}
@@ -417,7 +445,52 @@ static void flyEvent(FlyInfo *fly, wmEvent *event)
 	}
 	else if (event->type == MOUSEMOVE) {
 		VECCOPY2D(fly->mval, event->mval);
-	} /* handle modal keymap first */
+	}
+	else if (event->type == NDOF_MOTION) {
+		// do these automagically get delivered? yes.
+		// puts("ndof motion detected in fly mode!");
+		// static const char* tag_name = "3D mouse position";
+
+		wmNDOFMotionData* incoming_ndof = (wmNDOFMotionData*) event->customdata;
+		switch (incoming_ndof->progress) {
+			case P_STARTING:
+				// start keeping track of 3D mouse position
+#ifdef NDOF_FLY_DEBUG
+				puts("start keeping track of 3D mouse position");
+#endif
+				// fall through...
+			case P_IN_PROGRESS:
+				// update 3D mouse position
+#ifdef NDOF_FLY_DEBUG
+				putchar('.'); fflush(stdout);
+#endif
+				if (fly->ndof == NULL) {
+					// fly->ndof = MEM_mallocN(sizeof(wmNDOFMotionData), tag_name);
+					fly->ndof = MEM_dupallocN(incoming_ndof);
+					// fly->ndof = malloc(sizeof(wmNDOFMotionData));
+				}
+				else {
+					memcpy(fly->ndof, incoming_ndof, sizeof(wmNDOFMotionData));
+				}
+				break;
+			case P_FINISHING:
+				// stop keeping track of 3D mouse position
+#ifdef NDOF_FLY_DEBUG
+				puts("stop keeping track of 3D mouse position");
+#endif
+				if (fly->ndof) {
+					MEM_freeN(fly->ndof);
+					// free(fly->ndof);
+					fly->ndof = NULL;
+				}
+				/* update the time else the view will jump when 2D mouse/timer resume */
+				fly->time_lastdraw= PIL_check_seconds_timer();
+				break;
+			default:
+				; // should always be one of the above 3
+			}
+		}
+	/* handle modal keymap first */
 	else if (event->type == EVT_MODAL_MAP) {
 		switch (event->val) {
 			case FLY_MODAL_CANCEL:
@@ -439,7 +512,9 @@ static void flyEvent(FlyInfo *fly, wmEvent *event)
 				/*Mouse wheel delays range from 0.5==slow to 0.01==fast*/
 				time_wheel = 1.0f + (10.0f - (20.0f * MIN2(time_wheel, 0.5f))); /* 0-0.5 -> 0-5.0 */
 
-				if (fly->speed<0.0f) fly->speed= 0.0f;
+				if (fly->speed < 0.0f) {
+					fly->speed= 0.0f;
+				}
 				else {
 					if (event->shift)
 						fly->speed += fly->grid*time_wheel * 0.1f;
@@ -458,7 +533,9 @@ static void flyEvent(FlyInfo *fly, wmEvent *event)
 				fly->time_lastwheel = time_currwheel;
 				time_wheel = 1.0f + (10.0f - (20.0f * MIN2(time_wheel, 0.5f))); /* 0-0.5 -> 0-5.0 */
 
-				if (fly->speed>0) fly->speed=0;
+				if (fly->speed > 0.0f) {
+					fly->speed=0;
+				}
 				else {
 					if (event->shift)
 						fly->speed-= fly->grid*time_wheel * 0.1f;
@@ -528,14 +605,81 @@ static void flyEvent(FlyInfo *fly, wmEvent *event)
 			case FLY_MODAL_PRECISION_DISABLE:
 				fly->use_precision= FALSE;
 				break;
+		}
+	}
+}
 
+
+static void move_camera(bContext* C, RegionView3D* rv3d, FlyInfo* fly, int orientationChanged, int positionChanged)
+{
+	/* we are in camera view so apply the view ofs and quat to the view matrix and set the camera to the view */
+
+	View3D* v3d = fly->v3d;
+	Scene *scene= fly->scene;
+	ID *id_key;
+
+	/* transform the parent or the camera? */
+	if (fly->root_parent) {
+		Object *ob_update;
+
+		float view_mat[4][4];
+		float prev_view_mat[4][4];
+		float prev_view_imat[4][4];
+		float diff_mat[4][4];
+		float parent_mat[4][4];
+
+		ED_view3d_to_m4(prev_view_mat, fly->rv3d->ofs, fly->rv3d->viewquat, fly->rv3d->dist);
+		invert_m4_m4(prev_view_imat, prev_view_mat);
+		ED_view3d_to_m4(view_mat, rv3d->ofs, rv3d->viewquat, rv3d->dist);
+		mul_m4_m4m4(diff_mat, prev_view_imat, view_mat);
+		mul_m4_m4m4(parent_mat, fly->root_parent->obmat, diff_mat);
+		object_apply_mat4(fly->root_parent, parent_mat, TRUE, FALSE);
+
+		// where_is_object(scene, fly->root_parent);
+
+		ob_update= v3d->camera->parent;
+		while(ob_update) {
+			DAG_id_tag_update(&ob_update->id, OB_RECALC_OB);
+			ob_update= ob_update->parent;
 		}
+
+		id_key= &fly->root_parent->id;
+	}
+	else {
+		float view_mat[4][4];
+		ED_view3d_to_m4(view_mat, rv3d->ofs, rv3d->viewquat, rv3d->dist);
+		object_apply_mat4(v3d->camera, view_mat, TRUE, FALSE);
+		id_key= &v3d->camera->id;
+	}
+
+	/* record the motion */
+	if (autokeyframe_cfra_can_key(scene, id_key)) {
+		ListBase dsources = {NULL, NULL};
+		
+		/* add datasource override for the camera object */
+		ANIM_relative_keyingset_add_source(&dsources, id_key, NULL, NULL); 
+		
+		/* insert keyframes 
+		 *	1) on the first frame
+		 *	2) on each subsequent frame
+		 *		TODO: need to check in future that frame changed before doing this 
+		 */
+		if (orientationChanged) {
+			KeyingSet *ks= ANIM_builtin_keyingset_get_named(NULL, "Rotation");
+			ANIM_apply_keyingset(C, &dsources, NULL, ks, MODIFYKEY_MODE_INSERT, (float)CFRA);
+		}
+		if (positionChanged) {
+			KeyingSet *ks= ANIM_builtin_keyingset_get_named(NULL, "Location");
+			ANIM_apply_keyingset(C, &dsources, NULL, ks, MODIFYKEY_MODE_INSERT, (float)CFRA);
+		}
+		
+		/* free temp data */
+		BLI_freelistN(&dsources);
 	}
 }
 
 static int flyApply(bContext *C, FlyInfo *fly)
 {
-
 #define FLY_ROTATE_FAC 2.5f /* more is faster */
 #define FLY_ZUP_CORRECT_FAC 0.1f /* amount to correct per step */
 #define FLY_ZUP_CORRECT_ACCEL 0.05f /* increase upright momentum each step */
@@ -545,11 +689,7 @@ static int flyApply(bContext *C, FlyInfo *fly)
 	a fly loop where the user can move move the view as if they are flying
 	*/
 	RegionView3D *rv3d= fly->rv3d;
-	View3D *v3d = fly->v3d;
 	ARegion *ar = fly->ar;
-	Scene *scene= fly->scene;
-
-	float prev_view_mat[4][4];
 
 	float mat[3][3], /* 3x3 copy of the view matrix so we can move allong the view axis */
 	dvec[3]={0,0,0}, /* this is the direction thast added to the view offset per redraw */
@@ -567,15 +707,11 @@ static int flyApply(bContext *C, FlyInfo *fly)
 	unsigned char
 	apply_rotation= 1; /* if the user presses shift they can look about without movinf the direction there looking*/
 
-	if(fly->root_parent)
-		ED_view3d_to_m4(prev_view_mat, fly->rv3d->ofs, fly->rv3d->viewquat, fly->rv3d->dist);
+#ifdef NDOF_FLY_DEBUG
+	static unsigned int iteration = 1;
+	printf("fly timer %d\n", iteration++);
+#endif
 
-	/* the dist defines a vector that is infront of the offset
-	to rotate the view about.
-	this is no good for fly mode because we
-	want to rotate about the viewers center.
-	but to correct the dist removal we must
-	alter offset so the view doesn't jump. */
 
 	xmargin= ar->winx/20.0f;
 	ymargin= ar->winy/20.0f;
@@ -605,23 +741,25 @@ static int flyApply(bContext *C, FlyInfo *fly)
 		 *
 		 * the mouse moves isnt linear */
 
-		if(moffset[0]) {
+		if (moffset[0]) {
 			moffset[0] /= ar->winx - (xmargin*2);
 			moffset[0] *= fabsf(moffset[0]);
 		}
 
-		if(moffset[1]) {
+		if (moffset[1]) {
 			moffset[1] /= ar->winy - (ymargin*2);
 			moffset[1] *= fabsf(moffset[1]);
 		}
 
 		/* Should we redraw? */
-		if(fly->speed != 0.0f || moffset[0] || moffset[1] || fly->zlock || fly->xlock || dvec[0] || dvec[1] || dvec[2] ) {
+		if (fly->speed != 0.0f || moffset[0] || moffset[1] || fly->zlock || fly->xlock || dvec[0] || dvec[1] || dvec[2] ) {
 			float dvec_tmp[3];
 			double time_current; /*time how fast it takes for us to redraw, this is so simple scenes dont fly too fast */
 			float time_redraw;
 			float time_redraw_clamped;
-
+#ifdef NDOF_FLY_DRAW_TOOMUCH
+			fly->redraw= 1;
+#endif
 			time_current= PIL_check_seconds_timer();
 			time_redraw= (float)(time_current - fly->time_lastdraw);
 			time_redraw_clamped= MIN2(0.05f, time_redraw); /* clamt the redraw time to avoid jitter in roll correction */
@@ -648,8 +786,8 @@ static int flyApply(bContext *C, FlyInfo *fly)
 
 				mul_m3_v3(mat, dvec_tmp);
 				mul_v3_fl(dvec_tmp, time_redraw * 200.0f * fly->grid);
-
-			} else {
+			}
+			else {
 				float roll; /* similar to the angle between the camera's up and the Z-up, but its very rough so just roll*/
 
 				/* rotate about the X axis- look up/down */
@@ -670,27 +808,28 @@ static int flyApply(bContext *C, FlyInfo *fly)
 				if (moffset[0]) {
 
 					/* if we're upside down invert the moffset */
-					upvec[0]=0;
-					upvec[1]=1;
-					upvec[2]=0;
+					upvec[0]= 0.0f;
+					upvec[1]= 1.0f;
+					upvec[2]= 0.0f;
 					mul_m3_v3(mat, upvec);
 
-					if(upvec[2] < 0.0f)
+					if (upvec[2] < 0.0f)
 						moffset[0]= -moffset[0];
 
 					/* make the lock vectors */
 					if (fly->zlock) {
-						upvec[0]=0;
-						upvec[1]=0;
-						upvec[2]=1;
-					} else {
-						upvec[0]=0;
-						upvec[1]=1;
-						upvec[2]=0;
+						upvec[0]= 0.0f;
+						upvec[1]= 0.0f;
+						upvec[2]= 1.0f;
+					}
+					else {
+						upvec[0]= 0.0f;
+						upvec[1]= 1.0f;
+						upvec[2]= 0.0f;
 						mul_m3_v3(mat, upvec);
 					}
 
-					axis_angle_to_quat( tmp_quat, upvec, (float)moffset[0] * time_redraw * FLY_ROTATE_FAC); /* Rotate about the relative up vec */
+					axis_angle_to_quat(tmp_quat, upvec, (float)moffset[0] * time_redraw * FLY_ROTATE_FAC); /* Rotate about the relative up vec */
 					mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, tmp_quat);
 
 					if (fly->xlock) fly->xlock = 2;/*check for rotation*/
@@ -698,25 +837,26 @@ static int flyApply(bContext *C, FlyInfo *fly)
 				}
 
 				if (fly->zlock==2) {
-					upvec[0]=1;
-					upvec[1]=0;
-					upvec[2]=0;
+					upvec[0]= 1.0f;
+					upvec[1]= 0.0f;
+					upvec[2]= 0.0f;
 					mul_m3_v3(mat, upvec);
 
 					/*make sure we have some z rolling*/
 					if (fabsf(upvec[2]) > 0.00001f) {
-						roll= upvec[2]*5;
-						upvec[0]=0; /*rotate the view about this axis*/
-						upvec[1]=0;
-						upvec[2]=1;
+						roll= upvec[2] * 5.0f;
+						upvec[0]= 0.0f; /*rotate the view about this axis*/
+						upvec[1]= 0.0f;
+						upvec[2]= 1.0f;
 
 						mul_m3_v3(mat, upvec);
 						axis_angle_to_quat( tmp_quat, upvec, roll*time_redraw_clamped*fly->zlock_momentum * FLY_ZUP_CORRECT_FAC); /* Rotate about the relative up vec */
 						mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, tmp_quat);
 
 						fly->zlock_momentum += FLY_ZUP_CORRECT_ACCEL;
-					} else {
-						fly->zlock=1; /* dont check until the view rotates again */
+					}
+					else {
+						fly->zlock= 1; /* dont check until the view rotates again */
 						fly->zlock_momentum= 0.0f;
 					}
 				}
@@ -727,8 +867,8 @@ static int flyApply(bContext *C, FlyInfo *fly)
 					upvec[2]=1;
 					mul_m3_v3(mat, upvec);
 					/*make sure we have some z rolling*/
-					if (fabs(upvec[2]) > 0.00001) {
-						roll= upvec[2] * -5;
+					if (fabs(upvec[2]) > 0.00001f) {
+						roll= upvec[2] * -5.0f;
 
 						upvec[0]= 1.0f; /*rotate the view about this axis*/
 						upvec[1]= 0.0f;
@@ -740,7 +880,8 @@ static int flyApply(bContext *C, FlyInfo *fly)
 						mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, tmp_quat);
 
 						fly->xlock_momentum += 0.05f;
-					} else {
+					}
+					else {
 						fly->xlock=1; /* see above */
 						fly->xlock_momentum= 0.0f;
 					}
@@ -784,96 +925,164 @@ static int flyApply(bContext *C, FlyInfo *fly)
 				ED_area_headerprint(fly->ar, "FlyKeys  Speed:(+/- | Wheel),  Upright Axis:X off/Z off,  Slow:Shift,  Direction:WASDRF,  Ok:LMB,  Pan:MMB,  Cancel:RMB");
 #endif
 
-			/* we are in camera view so apply the view ofs and quat to the view matrix and set the camera to the view */
-			if (rv3d->persp==RV3D_CAMOB) {
-				ID *id_key;
-				/* transform the parent or the camera? */
-				if(fly->root_parent) {
-					Object *ob_update;
-
-					float view_mat[4][4];
-					float prev_view_imat[4][4];
-					float diff_mat[4][4];
-					float parent_mat[4][4];
-
-					invert_m4_m4(prev_view_imat, prev_view_mat);
-					ED_view3d_to_m4(view_mat, rv3d->ofs, rv3d->viewquat, rv3d->dist);
-					mul_m4_m4m4(diff_mat, prev_view_imat, view_mat);
-					mul_m4_m4m4(parent_mat, fly->root_parent->obmat, diff_mat);
-					object_apply_mat4(fly->root_parent, parent_mat, TRUE, FALSE);
-
-					// where_is_object(scene, fly->root_parent);
-
-					ob_update= v3d->camera->parent;
-					while(ob_update) {
-						DAG_id_tag_update(&ob_update->id, OB_RECALC_OB);
-						ob_update= ob_update->parent;
-					}
+			if (rv3d->persp==RV3D_CAMOB)
+				move_camera(C, rv3d, fly, (fly->xlock || fly->zlock || moffset[0] || moffset[1]), fly->speed);
 
-					copy_m4_m4(prev_view_mat, view_mat);
+		}
+		else {
+			/* we're not redrawing but we need to update the time else the view will jump */
+			fly->time_lastdraw= PIL_check_seconds_timer();
+		}
+		/* end drawing */
+		copy_v3_v3(fly->dvec_prev, dvec);
+	}
 
-					id_key= &fly->root_parent->id;
+	return OPERATOR_FINISHED;
+}
 
-				}
-				else {
-					float view_mat[4][4];
-					ED_view3d_to_m4(view_mat, rv3d->ofs, rv3d->viewquat, rv3d->dist);
-					object_apply_mat4(v3d->camera, view_mat, TRUE, FALSE);
-					id_key= &v3d->camera->id;
-				}
+static int flyApply_ndof(bContext *C, FlyInfo *fly)
+{
+	/* shorthand for oft-used variables */
+	wmNDOFMotionData* ndof = fly->ndof;
+	const float dt = ndof->dt;
+	RegionView3D* rv3d = fly->rv3d;
+	const int flag = U.ndof_flag;
 
-				/* record the motion */
-				if (autokeyframe_cfra_can_key(scene, id_key)) {
-					ListBase dsources = {NULL, NULL};
-					
-					/* add datasource override for the camera object */
-					ANIM_relative_keyingset_add_source(&dsources, id_key, NULL, NULL); 
-					
-					/* insert keyframes 
-					 *	1) on the first frame
-					 *	2) on each subsequent frame
-					 *		TODO: need to check in future that frame changed before doing this 
-					 */
-					if (fly->xlock || fly->zlock || moffset[0] || moffset[1]) {
-						KeyingSet *ks= ANIM_builtin_keyingset_get_named(NULL, "Rotation");
-						ANIM_apply_keyingset(C, &dsources, NULL, ks, MODIFYKEY_MODE_INSERT, (float)CFRA);
-					}
-					if (fly->speed) {
-						KeyingSet *ks= ANIM_builtin_keyingset_get_named(NULL, "Location");
-						ANIM_apply_keyingset(C, &dsources, NULL, ks, MODIFYKEY_MODE_INSERT, (float)CFRA);
-					}
-					
-					/* free temp data */
-					BLI_freelistN(&dsources);
-				}
+/*	int shouldRotate = (flag & NDOF_SHOULD_ROTATE) && (fly->pan_view == FALSE),
+	    shouldTranslate = (flag & (NDOF_SHOULD_PAN | NDOF_SHOULD_ZOOM)); */
+
+	int shouldRotate = (fly->pan_view == FALSE),
+	    shouldTranslate = TRUE;
+
+	float view_inv[4];
+	invert_qt_qt(view_inv, rv3d->viewquat);
+
+	rv3d->rot_angle = 0.f; // disable onscreen rotation doo-dad
+
+	if (shouldTranslate) {
+		const float forward_sensitivity = 1.f;
+		const float vertical_sensitivity = 0.4f;
+		const float lateral_sensitivity = 0.6f;
+
+		float speed = 10.f; /* blender units per second */
+		/* ^^ this is ok for default cube scene, but should scale with.. something */
+
+		float trans[3] = {
+			lateral_sensitivity * ndof->tvec[0],
+			vertical_sensitivity * ndof->tvec[1],
+			forward_sensitivity * ndof->tvec[2]
+			};
+
+		if (fly->use_precision)
+			speed *= 0.2f;
+
+		mul_v3_fl(trans, speed * dt);
+
+		// transform motion from view to world coordinates
+		mul_qt_v3(view_inv, trans);
+
+		if (flag & NDOF_FLY_HELICOPTER) {
+			/* replace world z component with device y (yes it makes sense) */
+			trans[2] = speed * dt * vertical_sensitivity * ndof->tvec[1];
+		}
+
+		if (rv3d->persp==RV3D_CAMOB) {
+			// respect camera position locks
+			Object *lock_ob= fly->root_parent ? fly->root_parent : fly->v3d->camera;
+			if (lock_ob->protectflag & OB_LOCK_LOCX) trans[0] = 0.f;
+			if (lock_ob->protectflag & OB_LOCK_LOCY) trans[1] = 0.f;
+			if (lock_ob->protectflag & OB_LOCK_LOCZ) trans[2] = 0.f;
+		}
+
+		if (!is_zero_v3(trans)) {
+			// move center of view opposite of hand motion (this is camera mode, not object mode)
+			sub_v3_v3(rv3d->ofs, trans);
+			shouldTranslate = TRUE;
+		}
+		else {
+			shouldTranslate = FALSE;
+		}
+	}
+
+	if (shouldRotate) {
+		const float turn_sensitivity = 1.f;
+
+		float rotation[4];
+		float axis[3];
+		float angle = turn_sensitivity * ndof_to_axis_angle(ndof, axis);
+
+		if (fabsf(angle) > 0.0001f) {
+			shouldRotate = TRUE;
+
+			if (fly->use_precision)
+				angle *= 0.2f;
+
+			/* transform rotation axis from view to world coordinates */
+			mul_qt_v3(view_inv, axis);
+
+			// apply rotation to view
+			axis_angle_to_quat(rotation, axis, angle);
+			mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, rotation);
+
+			if (flag & NDOF_LOCK_HORIZON) {
+				/* force an upright viewpoint
+				 * TODO: make this less... sudden */
+				float view_horizon[3] = {1.f, 0.f, 0.f}; /* view +x */
+				float view_direction[3] = {0.f, 0.f, -1.f}; /* view -z (into screen) */
+
+				/* find new inverse since viewquat has changed */
+				invert_qt_qt(view_inv, rv3d->viewquat);
+				/* could apply reverse rotation to existing view_inv to save a few cycles */
+
+				/* transform view vectors to world coordinates */
+				mul_qt_v3(view_inv, view_horizon);
+				mul_qt_v3(view_inv, view_direction);
+
+				/* find difference between view & world horizons
+				 * true horizon lives in world xy plane, so look only at difference in z */
+				angle = -asinf(view_horizon[2]);
+
+#ifdef NDOF_FLY_DEBUG
+				printf("lock horizon: adjusting %.1f degrees\n\n", RAD2DEG(angle));
+#endif
+
+				/* rotate view so view horizon = world horizon */
+				axis_angle_to_quat(rotation, view_direction, angle);
+				mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, rotation);
 			}
-		} else
-			/*were not redrawing but we need to update the time else the view will jump */
-			fly->time_lastdraw= PIL_check_seconds_timer();
-		/* end drawing */
-		copy_v3_v3(fly->dvec_prev, dvec);
+
+			rv3d->view = RV3D_VIEW_USER;
+		}
+		else {
+			shouldRotate = FALSE;
+		}
 	}
 
-/* moved to flyEnd() */
+	if (shouldTranslate || shouldRotate) {
+		fly->redraw = TRUE;
+
+		if (rv3d->persp==RV3D_CAMOB) {
+			move_camera(C, rv3d, fly, shouldRotate, shouldTranslate);
+		}
+	}
 
 	return OPERATOR_FINISHED;
 }
 
 
-
 static int fly_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	RegionView3D *rv3d= CTX_wm_region_view3d(C);
 	FlyInfo *fly;
 
-	if(rv3d->viewlock)
+	if (rv3d->viewlock)
 		return OPERATOR_CANCELLED;
 
 	fly= MEM_callocN(sizeof(FlyInfo), "FlyOperation");
 
 	op->customdata= fly;
 
-	if(initFlyInfo(C, fly, op, event)==FALSE) {
+	if (initFlyInfo(C, fly, op, event)==FALSE) {
 		MEM_freeN(op->customdata);
 		return OPERATOR_CANCELLED;
 	}
@@ -908,21 +1117,28 @@ static int fly_modal(bContext *C, wmOperator *op, wmEvent *event)
 
 	flyEvent(fly, event);
 
-	if(event->type==TIMER && event->customdata == fly->timer)
+	if (fly->ndof) { /* 3D mouse overrules [2D mouse + timer] */
+		if (event->type==NDOF_MOTION) {
+			flyApply_ndof(C, fly);
+		}
+	}
+	else if (event->type==TIMER && event->customdata == fly->timer) {
 		flyApply(C, fly);
+	}
 
 	do_draw |= fly->redraw;
 
 	exit_code = flyEnd(C, fly);
 
-	if(exit_code!=OPERATOR_RUNNING_MODAL)
+	if (exit_code!=OPERATOR_RUNNING_MODAL)
 		do_draw= TRUE;
 
-	if(do_draw) {
-		if(rv3d->persp==RV3D_CAMOB) {
+	if (do_draw) {
+		if (rv3d->persp==RV3D_CAMOB) {
 			WM_event_add_notifier(C, NC_OBJECT|ND_TRANSFORM, fly_object);
 		}
 
+		// puts("redraw!"); // too frequent, commented with NDOF_FLY_DRAW_TOOMUCH for now
 		ED_region_tag_redraw(CTX_wm_region(C));
 	}
 
diff --git a/source/blender/editors/space_view3d/view3d_header.c b/source/blender/editors/space_view3d/view3d_header.c
index ae80a554e08..5b95ae63e56 100644
--- a/source/blender/editors/space_view3d/view3d_header.c
+++ b/source/blender/editors/space_view3d/view3d_header.c
@@ -280,7 +280,8 @@ static char *view3d_modeselect_pup(Scene *scene)
 	
 	str += sprintf(str, formatstr, "Object Mode", OB_MODE_OBJECT, ICON_OBJECT_DATA);
 	
-	if(ob==NULL) return string;
+	if(ob==NULL || ob->data==NULL) return string;
+	if(ob->id.lib || ((ID *)ob->data)->lib) return string;
 	
 	/* if active object is editable */
 	if ( ((ob->type == OB_MESH)
diff --git a/source/blender/editors/space_view3d/view3d_intern.h b/source/blender/editors/space_view3d/view3d_intern.h
index d3886d48873..ab3ce37ff15 100644
--- a/source/blender/editors/space_view3d/view3d_intern.h
+++ b/source/blender/editors/space_view3d/view3d_intern.h
@@ -51,6 +51,7 @@ struct ARegionType;
 struct bPoseChannel;
 struct bAnimVizSettings;
 struct bMotionPath;
+struct wmNDOFMotionData;
 
 #define BL_NEAR_CLIP 0.001
 
@@ -72,6 +73,8 @@ void VIEW3D_OT_dolly(struct wmOperatorType *ot);
 void VIEW3D_OT_zoom_camera_1_to_1(struct wmOperatorType *ot);
 void VIEW3D_OT_move(struct wmOperatorType *ot);
 void VIEW3D_OT_rotate(struct wmOperatorType *ot);
+void VIEW3D_OT_ndof_orbit(struct wmOperatorType *ot);
+void VIEW3D_OT_ndof_pan(struct wmOperatorType *ot);
 void VIEW3D_OT_view_all(struct wmOperatorType *ot);
 void VIEW3D_OT_viewnumpad(struct wmOperatorType *ot);
 void VIEW3D_OT_view_selected(struct wmOperatorType *ot);
@@ -91,6 +94,8 @@ void VIEW3D_OT_zoom_border(struct wmOperatorType *ot);
 void VIEW3D_OT_drawtype(struct wmOperatorType *ot);
 
 void view3d_boxview_copy(ScrArea *sa, ARegion *ar);
+void ndof_to_quat(struct wmNDOFMotionData* ndof, float q[4]);
+float ndof_to_axis_angle(struct wmNDOFMotionData* ndof, float axis[3]);
 
 /* view3d_fly.c */
 void view3d_keymap(struct wmKeyConfig *keyconf);
diff --git a/source/blender/editors/space_view3d/view3d_ops.c b/source/blender/editors/space_view3d/view3d_ops.c
index 05ef79a9f29..e47cb1db753 100644
--- a/source/blender/editors/space_view3d/view3d_ops.c
+++ b/source/blender/editors/space_view3d/view3d_ops.c
@@ -64,6 +64,8 @@ void view3d_operatortypes(void)
 	WM_operatortype_append(VIEW3D_OT_zoom);
 	WM_operatortype_append(VIEW3D_OT_zoom_camera_1_to_1);
 	WM_operatortype_append(VIEW3D_OT_dolly);
+	WM_operatortype_append(VIEW3D_OT_ndof_orbit);
+	WM_operatortype_append(VIEW3D_OT_ndof_pan);
 	WM_operatortype_append(VIEW3D_OT_view_all);
 	WM_operatortype_append(VIEW3D_OT_viewnumpad);
 	WM_operatortype_append(VIEW3D_OT_view_orbit);
@@ -161,6 +163,17 @@ void view3d_keymap(wmKeyConfig *keyconf)
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_view_all", HOMEKEY, KM_PRESS, 0, 0)->ptr, "center", 0); /* only without camera view */
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_view_all", CKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "center", 1);
 
+	/* 3D mouse */
+	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_orbit", NDOF_MOTION, 0, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_pan", NDOF_MOTION, 0, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_view_selected", NDOF_BUTTON_FIT, KM_PRESS, 0, 0);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_FRONT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_FRONT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BACK, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BACK);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_LEFT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_LEFT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_RIGHT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_RIGHT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_TOP, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_TOP);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BOTTOM, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BOTTOM);
+
 	/* numpad view hotkeys*/
 	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", PAD0, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_CAMERA);
 	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", PAD1, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_FRONT);
@@ -210,6 +223,17 @@ void view3d_keymap(wmKeyConfig *keyconf)
 	RNA_enum_set(kmi->ptr, "type", RV3D_VIEW_BOTTOM);
 	RNA_boolean_set(kmi->ptr, "align_active", TRUE);
 
+	/* 3D mouse align */
+	kmi= WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_FRONT, KM_PRESS, KM_SHIFT, 0);
+	RNA_enum_set(kmi->ptr, "type", RV3D_VIEW_FRONT);
+	RNA_boolean_set(kmi->ptr, "align_active", TRUE);
+	kmi= WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_RIGHT, KM_PRESS, KM_SHIFT, 0);
+	RNA_enum_set(kmi->ptr, "type", RV3D_VIEW_RIGHT);
+	RNA_boolean_set(kmi->ptr, "align_active", TRUE);
+	kmi= WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_TOP, KM_PRESS, KM_SHIFT, 0);
+	RNA_enum_set(kmi->ptr, "type", RV3D_VIEW_TOP);
+	RNA_boolean_set(kmi->ptr, "align_active", TRUE);
+
 	WM_keymap_add_item(keymap, "VIEW3D_OT_localview", PADSLASHKEY, KM_PRESS, 0, 0);
 	
 	/* layers, shift + alt are properties set in invoke() */
diff --git a/source/blender/editors/space_view3d/view3d_select.c b/source/blender/editors/space_view3d/view3d_select.c
index 9290e1fc631..c6835b0cad3 100644
--- a/source/blender/editors/space_view3d/view3d_select.c
+++ b/source/blender/editors/space_view3d/view3d_select.c
@@ -889,14 +889,14 @@ static unsigned int samplerect(unsigned int *buf, int size, unsigned int dontdo)
 {
 	Base *base;
 	unsigned int *bufmin,*bufmax;
-	int a,b,rc,tel,aantal,dirvec[4][2],maxob;
+	int a,b,rc,tel,len,dirvec[4][2],maxob;
 	unsigned int retval=0;
 	
 	base= LASTBASE;
 	if(base==0) return 0;
 	maxob= base->selcol;
 
-	aantal= (size-1)/2;
+	len= (size-1)/2;
 	rc= 0;
 
 	dirvec[0][0]= 1;
@@ -910,7 +910,7 @@ static unsigned int samplerect(unsigned int *buf, int size, unsigned int dontdo)
 
 	bufmin= buf;
 	bufmax= buf+ size*size;
-	buf+= aantal*size+ aantal;
+	buf+= len*size+ len;
 
 	for(tel=1;tel<=size;tel++) {