Result of 2 weeks of quiet coding work in Greece :)

Aim was to get a total refresh of the animation system. This
is needed because;
- we need to upgrade it with 21st century features
- current code is spaghetti/hack combo, and hides good design
- it should become lag-free with using dependency graphs

A full log, with complete code API/structure/design explanation
will follow, that's a load of work... so here below the list with
hot changes;

- The entire object update system (matrices, geometry) is now
  centralized. Calls to where_is_object and makeDispList are
  forbidden, instead we tag objects 'changed' and let the
  depgraph code sort it out
- Removed all old "Ika" code
- Depgraph is aware of all relationships, including meta balls,
  constraints, bevelcurve, and so on.
- Made depgraph aware of relation types and layers, to do smart
  flushing of 'changed' events. Nothing gets calculated too often!
- Transform uses depgraph to detect changes
- On frame-advance, depgraph flushes animated changes

Armatures;

Almost all armature related code has been fully built from scratch.
It now reveils the original design much better, with a very clean
implementation, lag free without even calculating each Bone more than
once. Result is quite a speedup yes!

Important to note is;

1) Armature is data containing the 'rest position'
2) Pose is the changes of rest position, and always on object level.
   That way more Objects can use same Pose. Also constraints are in Pose
3) Actions only contain the Ipos to change values in Poses.

- Bones draw unrotated now
- Drawing bones speedup enormously (10-20 times)
- Bone selecting in EditMode, selection state is saved for PoseMode,
  and vice-versa
- Undo in editmode
- Bone renaming does vertexgroups, constraints, posechannels, actions,
  for all users of Armature in entire file
- Added Bone renaming in NKey panel
- Nkey PoseMode shows eulers now
- EditMode and PoseMode now have 'active' bone too (last clicked)
- Parenting in EditMode' CTRL+P, ALT+P, with nice options!
- Pose is added in Outliner now, with showing that constraints are in
  the Pose, not Armature
- Disconnected IK solving from constraints. It's a separate phase now,
  on top of the full Pose calculations
- Pose itself has a dependency graph too, so evaluation order is lag free.

TODO NOW;

- Rotating in Posemode has incorrect inverse transform (Martin will fix)
- Python Bone/Armature/Pose API disabled... needs full recode too
  (wait for my doc!)
- Game engine will need upgrade too
- Depgraph code needs revision, cleanup, can be much faster!
  (But, compliments for Jean-Luc, it works like a charm!)
- IK changed, it now doesnt use previous position to advance to next
  position anymore. That system looks nice (no flips) but is not well
  suited for NLA and background render.

TODO LATER;

We now can do loadsa new nifty features as well; like:

- Kill PoseMode (can be option for armatures itself)
- Make B-Bones (Bezier, Bspline, like for spines)
- Move all silly button level edit to 3d window (like CTRL+I = add
  IK)
- Much better & informative drawing
- Fix action/nla editors
- Put all ipos in Actions (object, mesh key, lamp color)
- Add hooks
- Null bones
- Much more advanced constraints...


Bugfixes;

- OGL render (view3d header) had wrong first frame on anim render
- Ipo 'recording' mode had wrong playback speed
- Vertex-key mode now sticks to show 'active key', until frame change

-Ton-

8 files changed, 137 insertions, 197 deletions

diff --git a/source/blender/makesdna/DNA_action_types.h b/source/blender/makesdna/DNA_action_types.h
index 94c9bcf5d88..9e4480431e3 100644
--- a/source/blender/makesdna/DNA_action_types.h
+++ b/source/blender/makesdna/DNA_action_types.h
@@ -28,9 +28,7 @@
  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  * All rights reserved.
  *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
+ * Contributor(s): Full recode, Ton Roosendaal, Crete 2005
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
@@ -44,22 +42,40 @@
 #include "DNA_view2d_types.h"
 
 struct SpaceLink;
+struct ListBase;
+
+/* PoseChannel stores the results of Actions (ipos) and transform information 
+   with respect to the restposition of Armature bones */
 
-typedef struct bPoseChannel{
+typedef struct bPoseChannel {
 	struct bPoseChannel	*next, *prev;
 	ListBase			constraints;
-	int					flag;
-	float loc[3];
-	float size[3];
-	float quat[4];
-	float obmat[4][4];
 	char				name[32];	/* Channels need longer names than normal blender objects */
-	int					reserved1;
+	short				flag;		/* dynamic, for detecting transform changes */
+	short				constflag;  /* for quick detecting which constraints affect this channel */
+	int					depth;		/* dependency sorting help */
+	
+	struct Bone			*bone;		/* set on read file or rebuild pose */
+	struct bPoseChannel *parent;	/* set on read file or rebuild pose */
+	struct ListBase		 chain;		/* only while evaluating pose */
+	
+	float		loc[3];				/* written in by actions or transform */
+	float		size[3];
+	float		quat[4];
+	
+	float		chan_mat[4][4];		/* matrix result of loc/quat/size , and where we put deform in, see next line */
+	float		pose_mat[4][4];		/* constraints accumulate here. in the end, pose_mat = bone->arm_mat * chan_mat */
+	float		ik_mat[3][3];		/* for itterative IK */
+	
+	float		pose_head[3];		/* actually pose_mat[3] */
+	float		pose_tail[3];		/* also used for drawing help lines... */
+	int pad;
 } bPoseChannel;
 
 
 typedef struct bPose{
 	ListBase			chanbase;
+	int flag, pad;
 } bPose;
 
 typedef struct bActionChannel {
@@ -100,5 +116,31 @@ typedef struct SpaceAction {
 #define	ACHAN_SELECTED	0x00000001
 #define ACHAN_HILIGHTED	0x00000002
 
+/* Pose->flag */
+
+#define POSE_RECALC		1
+
+/* PoseChannel (transform) flags */
+enum	{
+	POSE_LOC		=	0x0001,
+	POSE_ROT		=	0x0002,
+	POSE_SIZE		=	0x0004,
+	POSE_IK_MAT		=	0x0008,
+	POSE_UNUSED2	=	0x0010,
+	POSE_UNUSED3	=	0x0020,
+	POSE_UNUSED4	=	0x0040,
+	POSE_UNUSED5	=	0x0080,
+	POSE_OBMAT		=	0x0100,
+	POSE_PARMAT		=	0x0200,
+	POSE_DONE		=   0x0400,
+	POSE_KEY		=	0x1000
+};
+
+/* Pose Channel constflag (constraint) */
+#define PCHAN_HAS_IK		1
+#define PCHAN_HAS_TRACK		2
+#define PCHAN_HAS_CONST		4
+
+
 #endif
 
diff --git a/source/blender/makesdna/DNA_armature_types.h b/source/blender/makesdna/DNA_armature_types.h
index 5124716bc51..07633090902 100644
--- a/source/blender/makesdna/DNA_armature_types.h
+++ b/source/blender/makesdna/DNA_armature_types.h
@@ -23,9 +23,7 @@
  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  * All rights reserved.
  *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
+ * Contributor(s): Full recode, Ton Roosendaal, Crete 2005
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
@@ -36,35 +34,37 @@
 #include "DNA_listBase.h"
 #include "DNA_ID.h"
 
+/* this system works on different transformation space levels;
+
+1) Bone Space;		with each Bone having own (0,0,0) origin
+2) Armature Space;  the rest position, in Object space, Bones Spaces are applied hierarchical
+3) Pose Space;		the animation position, in Object space
+4) World Space;		Object matrix applied to Pose or Armature space
+
+*/
+
 typedef struct Bone {
 	struct Bone		*next, *prev;	/*	Next/prev elements within this list	*/
 	struct Bone		*parent;		/*	Parent (ik parent if appropriate flag is set		*/
 	ListBase		childbase;		/*	Children	*/
-	char			name[32];		/* Name of the bone - must be unique within the armature */
+	char			name[32];		/*  Name of the bone - must be unique within the armature */
 
-	float			roll;				
-	float			head[3];		/*	Orientation & length are implicit now */
-	float			tail[3];		/*	head/tail represents rest state	*/
+	float			roll, length;   /* */
+	float			head[3];		
+	float			tail[3];		/*	head/tail and roll in Bone Space	*/
+	float			bone_mat[3][3]; /*  rotation derived from head/tail/roll */
+	
 	int				flag;
-
-	/*	Transformation data used for posing:
-		The same information stored by other
-		blenderObjects
-	*/
-
-	float dist, weight;
-	float loc[3], dloc[3];
-	float size[3], dsize[3];
-	float quat[4], dquat[4];
-	float obmat[4][4];
-	float parmat[4][4];
-	float defmat[4][4];
-	float irestmat[4][4];	/*	Cached inverse of rest matrix (objectspace)*/
-	float posemat[4][4];	/*	Cached pose matrix (objectspace)*/
+	
+	float			arm_head[3];		
+	float			arm_tail[3];	/*	head/tail and roll in Armature Space (rest pos) */
+	float			arm_mat[4][4];  /*  matrix: (bonemat(b)+head(b))*arm_mat(b-1), rest pos*/
+	
+	float dist, weight;				/*  dist for non-deformgroup deforms */
+	
+	float size[3];					/* patch for upward compat, UNUSED! */
 	short boneclass;
-	short filler1;
-	short filler2;
-	short filler3;
+	short pad1;
 }Bone;
 
 typedef struct bArmature {
@@ -77,58 +77,46 @@ typedef struct bArmature {
 	int			res3;			
 }bArmature;
 
-enum {
-		ARM_RESTPOSBIT	=	0,
-		ARM_DRAWXRAYBIT,
-		ARM_DRAWAXESBIT,
-		ARM_DRAWNAMESBIT,
-		ARM_POSEBIT,
-		ARM_EDITBIT,
-		ARM_DELAYBIT
-};
+/* armature->flag */
+#define		ARM_RESTPOSBIT		0
+#define		ARM_DRAWXRAYBIT		1
+#define		ARM_DRAWAXESBIT		2
+#define		ARM_DRAWNAMESBIT	3
+#define		ARM_POSEBIT			4
+#define		ARM_EDITBIT			5
+#define		ARM_DELAYBIT		6
+/* dont use bit 7, was saved in files to disable stuff */
+#define		ARM_NO_ACTIONBIT	8
+
+/* armature->flag */
+#define		ARM_RESTPOS		0x0001
+#define		ARM_DRAWXRAY	0x0002
+#define		ARM_DRAWAXES	0x0004
+#define		ARM_DRAWNAMES	0x0008
+#define		ARM_POSEMODE	0x0010
+#define		ARM_EDITMODE	0x0020
+#define		ARM_DELAYDEFORM 0x0040
+#define		ARM_DONT_USE    0x0080
+#define		ARM_NO_ACTION   0x0100
+
+/* bone->flag */
+#define		BONE_SELECTED	1
+#define		BONE_ROOTSEL	2
+#define		BONE_TIPSEL		4
+			/* Used instead of BONE_SELECTED during transform */
+#define		BONE_TRANSFORM  8
+#define		BONE_IK_TOPARENT 16
+			/* 32 used to be quatrot, was always set in files, do not reuse unless you clear it always */
+#define		BONE_HIDDEN		64
+			/* For detecting cyclic dependancies */
+#define		BONE_DONE		128
+			/* active is on mouse clicks only */
+#define		BONE_ACTIVE		256
+
+/* bone->flag  bits */
+#define		BONE_IK_TOPARENTBIT		4
+#define		BONE_HIDDENBIT			6
 
-enum {
-		ARM_RESTPOS		=	0x00000001,
-		ARM_DRAWXRAY	=	0x00000002,
-		ARM_DRAWAXES	=	0x00000004,
-		ARM_DRAWNAMES	=	0x00000008,
-		ARM_POSEMODE	=	0x00000010,
-		ARM_EDITMODE	=	0x00000020,
-		ARM_DELAYDEFORM =       0x00000040
-};
-
-enum {
-		BONE_SELECTED	=	0x00000001,
-		BONE_ROOTSEL	=	0x00000002,
-		BONE_TIPSEL		=	0x00000004,
-
-		BONE_HILIGHTED	=	0x00000008,
-		BONE_IK_TOPARENT=	0x00000010,
-		BONE_QUATROT	=	0x00000020,
-		BONE_HIDDEN		=	0x00000040,
-
-		BONE_DONE		=	0x00000080,	/* For detecting cyclic dependancies */
-
-		BONE_ISEMPTY	=	0x00000100,
-		BONE_ISMUSCLE	=	0x00000200,
-		BONE_NOCALC     =   0x00000400 /* Don't calculate bone 
-										* transformation, when flagged
-										* (note: this is a temporary flag)
-										*/
-};
-
-enum {
-		BONE_SELECTEDBIT	=	0,
-		BONE_HEADSELBIT,
-		BONE_TAILSELBIT,
-		BONE_HILIGHTEDBIT,
-		BONE_IK_TOPARENTBIT,
-		BONE_QUATROTBIT,
-		BONE_HIDDENBIT,
-		BONE_ISEMPTYBIT,
-		BONE_ISMUSCLEBIT,
-		BONE_NOCALCBIT
-};
 
 enum {
 		BONE_SKINNABLE  =       0,
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index 06a7844b785..d7e4e97dce1 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -50,7 +50,6 @@ typedef struct bConstraintChannel{
 typedef struct bConstraint{
 	struct bConstraint *next, *prev;
 	void		*data;		/*	Constraint data	(a valid constraint type) */
-	Ipo			*ipo;		/*	Constraint ipo	*/
 	char		type;		/*	Constraint type	*/
 	char		otype;		/*	Old type - for menu callbacks */
 	short		flag;		/*	Flag */
@@ -179,7 +178,7 @@ typedef struct bStretchToConstraint{
 #define CONSTRAINT_DONE			0x00000002
 #define CONSTRAINT_DISABLE		0x00000004
 #define CONSTRAINT_LOOPTESTED	0x00000008
-#define CONSTRAINT_NOREFRESH	0x00000010
+
 
 #define CONSTRAINT_EXPAND_BIT	0
 #define CONSTRAINT_DONE_BIT		1
diff --git a/source/blender/makesdna/DNA_ika_types.h b/source/blender/makesdna/DNA_ika_types.h
deleted file mode 100644
index 2ddbc4ed4a3..00000000000
--- a/source/blender/makesdna/DNA_ika_types.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/**
- * blenlib/DNA_ika_types.h (mar-2001 nzc)
- *
- * Old ika types. These have been superceded by Reevan's stuff
- * (armatures and bones)
- *
- * Can be removed! (ton)
- *
- * $Id$ 
- *
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-#ifndef DNA_IKA_TYPES_H
-#define DNA_IKA_TYPES_H
-
-#include "DNA_listBase.h"
-#include "DNA_ID.h"
-
-struct Object;
-struct Ipo;
-
-typedef struct Deform {
-	struct Object *ob;
-	short flag, partype;
-	int par1, par2, par3;	/* can be vertexnrs */
-	float imat[4][4], premat[4][4], postmat[4][4];
-	float vec[3];	/* when partype==LIMB, for distfunc */
-	float fac, dist, pad;
-	
-} Deform;
-
-typedef struct Limb {
-	struct Limb *next, *prev;
-	
-	float len, leno, fac, alpha, alphao, pad;
-	float eff[2];
-	
-} Limb;
-
-typedef struct Ika {
-	ID id;
-	
-	short partype, flag, iter, lastfra;
-	
-	ListBase limbbase;
-	float eff[3], effg[3], effn[3];	
-	float mem, slow, toty, totx, xyconstraint;
-	
-	struct Ipo *ipo;
-	struct Object *parent;
-	int par1, par2, par3;	
-
-	int totdef;
-	Deform *def;
-	
-	int def_scroll;
-	int limb_scroll;
-} Ika;
-
-/* these defines are used for working with ikas*/
-
-/* ika.flag: */
-#define IK_GRABEFF		1
-#define IK_XYCONSTRAINT	2
-
-#endif
-
diff --git a/source/blender/makesdna/DNA_ipo_types.h b/source/blender/makesdna/DNA_ipo_types.h
index 5dccadb00ab..352a2589c14 100644
--- a/source/blender/makesdna/DNA_ipo_types.h
+++ b/source/blender/makesdna/DNA_ipo_types.h
@@ -59,7 +59,6 @@ typedef short IPO_Channel;
 
 #define TOB_IPO	1
 #define TOB_IPODROT	2
-#define TOB_IKA	4
 
 /* disptype */
 #define IPO_DISPDEGR	1
@@ -96,10 +95,6 @@ typedef short IPO_Channel;
 
 #define OB_TIME		20
 
-#define OB_EFF_X	21
-#define OB_EFF_Y	22
-#define OB_EFF_Z	23
-
 #define OB_COL_R	21
 #define OB_COL_G	22
 #define OB_COL_B	23
diff --git a/source/blender/makesdna/DNA_key_types.h b/source/blender/makesdna/DNA_key_types.h
index 9bdbc2fbeed..7f4d4125cb5 100644
--- a/source/blender/makesdna/DNA_key_types.h
+++ b/source/blender/makesdna/DNA_key_types.h
@@ -70,14 +70,18 @@ typedef struct Key {
 
 	short type, totkey;
 	short slurph, actkey;
+	short flag, pad1;
+	int pad2;
 	
 } Key;
 
 /* **************** KEY ********************* */
 
-/* type */
+/* key->type */
 #define KEY_NORMAL      0
 #define KEY_RELATIVE    1
+/* key->flag */
+#define KEY_LOCKED		1
 
 /* keyblock->type */
 #define KEY_LINEAR      0
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h
index ea49d73cd04..92665f1804a 100644
--- a/source/blender/makesdna/DNA_object_types.h
+++ b/source/blender/makesdna/DNA_object_types.h
@@ -176,7 +176,8 @@ typedef struct Object {
 	 * bit 15: Always ignore activity culling 
 	 */
 	int gameflag2;
-	short softflag, dummy;			/* temporal stuff softbody experiment */
+	short softflag;			/* softboday settings */
+	short recalc;			/* dependency flag */
 	float anisotropicFriction[3];
 
 	ListBase constraints;
@@ -232,19 +233,18 @@ extern Object workob;
 #define OB_LAMP			10
 #define OB_CAMERA		11
 
-#define OB_IKA			20
 #define OB_WAVE			21
 #define OB_LATTICE		22
 
 /* 23 and 24 are for life and sector (old file compat.) */
 #define	OB_ARMATURE		25
 
-/* partype: eerste 5 bits: type */
+/* partype: first 4 bits: type */
 #define PARTYPE			15
 #define PAROBJECT		0
 #define PARCURVE		1
 #define PARKEY			2
-#define PARLIMB			3
+
 #define PARSKEL			4
 #define PARVERT1		5
 #define PARVERT3		6
@@ -313,12 +313,13 @@ extern Object workob;
 
 /* also needed for base!!!!! or rather, thy interfere....*/
 /* base->flag and ob->flag */
-#define BA_WASSEL			2
-#define BA_PARSEL			4
-#define BA_WHERE_UPDATE		8
-#define BA_DISP_UPDATE		16
+#define BA_WAS_SEL			2
+#define BA_HAS_RECALC_OB	4
+#define BA_HAS_RECALC_DATA	8
+
 #define BA_DO_IPO			32
 #define OB_GONNA_MOVE		32
+
 #define BA_FROMSET			128
 #define OB_DO_IMAT			256
 #define OB_FROMDUPLI		512
@@ -327,6 +328,12 @@ extern Object workob;
 #define OB_FROMGROUP		4096
 #define OB_POSEMODE			8192
 
+/* ob->recalc (flag bits!) */
+#define OB_RECALC_OB		1
+#define OB_RECALC_DATA		2
+#define OB_RECALC			3
+
+
 /* ob->gameflag */
 #define OB_DYNAMIC		1
 #define OB_CHILD		2
diff --git a/source/blender/makesdna/intern/makesdna.c b/source/blender/makesdna/intern/makesdna.c
index b550d18bdb2..200639cd402 100644
--- a/source/blender/makesdna/intern/makesdna.c
+++ b/source/blender/makesdna/intern/makesdna.c
@@ -110,7 +110,6 @@ char *includefiles[] = {
 	"DNA_fileglobal_types.h",
 	"DNA_sequence_types.h",
 	"DNA_effect_types.h",
-	"DNA_ika_types.h",
 	"DNA_oops_types.h",
 	"DNA_property_types.h",
 	"DNA_sensor_types.h",
@@ -1123,7 +1122,6 @@ int main(int argc, char ** argv)
 #include "DNA_fileglobal_types.h"
 #include "DNA_sequence_types.h"
 #include "DNA_effect_types.h"
-#include "DNA_ika_types.h"
 #include "DNA_oops_types.h"
 #include "DNA_property_types.h"
 #include "DNA_sensor_types.h"