Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

9 files changed, 397 insertions, 50 deletions

diff --git a/source/blender/makesrna/RNA_access.h b/source/blender/makesrna/RNA_access.h
index b1f5292f9d4..9ea7725b855 100644
--- a/source/blender/makesrna/RNA_access.h
+++ b/source/blender/makesrna/RNA_access.h
@@ -333,6 +333,7 @@ extern StructRNA RNA_Pose;
 extern StructRNA RNA_PoseChannel;
 extern StructRNA RNA_Property;
 extern StructRNA RNA_PropertySensor;
+extern StructRNA RNA_ArmatureSensor;
 extern StructRNA RNA_PythonConstraint;
 extern StructRNA RNA_PythonController;
 extern StructRNA RNA_RadarSensor;
diff --git a/source/blender/makesrna/SConscript b/source/blender/makesrna/SConscript
index 845abf636e2..8fc9df0fbf6 100644
--- a/source/blender/makesrna/SConscript
+++ b/source/blender/makesrna/SConscript
@@ -7,7 +7,7 @@ o = SConscript('intern/SConscript')
 objs += o
 
 incs = '#/intern/guardedalloc ../blenkernel ../blenlib ../makesdna intern .'
-incs += ' ../windowmanager ../editors/include ../imbuf'
+incs += ' ../windowmanager ../editors/include ../imbuf ../ikplugin'
 incs += ' ../render/extern/include'
 
 defs = []
diff --git a/source/blender/makesrna/intern/CMakeLists.txt b/source/blender/makesrna/intern/CMakeLists.txt
index 709c5d017ec..50cf0b00b84 100644
--- a/source/blender/makesrna/intern/CMakeLists.txt
+++ b/source/blender/makesrna/intern/CMakeLists.txt
@@ -39,7 +39,7 @@ SET(SRC
 		../../../../intern/guardedalloc/intern/mallocn.c
 		../../../../intern/guardedalloc/intern/mmap_win.c)
 
-INCLUDE_DIRECTORIES(../../../../intern/guardedalloc .. ../../makesdna ../../blenkernel ../../blenlib ../../windowmanager ../../editors/include ../../imbuf ../../render/extern/include .)
+INCLUDE_DIRECTORIES(../../../../intern/guardedalloc .. ../../makesdna ../../blenkernel ../../blenlib ../../ikplugin ../../windowmanager ../../editors/include ../../imbuf ../../render/extern/include .)
 FILE(GLOB INC_FILES ../*.h ../../makesdna/*.h)
 
 IF(WITH_GAMEENGINE)
diff --git a/source/blender/makesrna/intern/Makefile b/source/blender/makesrna/intern/Makefile
index 4a4e41edd15..7923ea1e7de 100644
--- a/source/blender/makesrna/intern/Makefile
+++ b/source/blender/makesrna/intern/Makefile
@@ -49,6 +49,7 @@ CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
 CPPFLAGS += -I../../blenlib
 CPPFLAGS += -I../../blenkernel
 CPPFLAGS += -I../../imbuf
+CPPFLAGS += -I../../ikplugin
 CPPFLAGS += -I../../makesdna
 CPPFLAGS += -I../../windowmanager
 CPPFLAGS += -I../../editors/include
diff --git a/source/blender/makesrna/intern/SConscript b/source/blender/makesrna/intern/SConscript
index 569f0547731..0f8bc752f09 100644
--- a/source/blender/makesrna/intern/SConscript
+++ b/source/blender/makesrna/intern/SConscript
@@ -30,7 +30,7 @@ makesrna_tool.Append(CCFLAGS = '-DBASE_HEADER="\\"source/blender/makesrna/\\"" '
 defs = []
 
 incs = '#/intern/guardedalloc ../../blenlib ../../blenkernel'
-incs += ' ../../imbuf ../../makesdna ../../makesrna'
+incs += ' ../../imbuf ../../makesdna ../../makesrna ../../ikplugin'
 incs += ' ../../windowmanager ../../editors/include'
 incs += ' ../../render/extern/include'
 
diff --git a/source/blender/makesrna/intern/rna_actuator.c b/source/blender/makesrna/intern/rna_actuator.c
index 473e726db60..ce83d1c469b 100644
--- a/source/blender/makesrna/intern/rna_actuator.c
+++ b/source/blender/makesrna/intern/rna_actuator.c
@@ -58,6 +58,7 @@ void RNA_def_actuator(BlenderRNA *brna)
 		{ACT_PARENT, "PARENT", 0, "Parent", ""},
 		{ACT_SHAPEACTION, "SHAPE_ACTION", 0, "Shape Action", ""},
 		{ACT_STATE, "STATE", 0, "State", ""},
+		{ACT_ARMATURE, "ARMATURE", 0, "Armature", ""},
 		{0, NULL, 0, NULL, NULL}};
 
 	srna= RNA_def_struct(brna, "Actuator", NULL);
diff --git a/source/blender/makesrna/intern/rna_constraint.c b/source/blender/makesrna/intern/rna_constraint.c
index 86aa2a1d135..b630e61a680 100644
--- a/source/blender/makesrna/intern/rna_constraint.c
+++ b/source/blender/makesrna/intern/rna_constraint.c
@@ -33,6 +33,7 @@
 #include "DNA_object_types.h"
 #include "DNA_scene_types.h"
 
+#include "ED_object.h"
 #include "WM_types.h"
 
 EnumPropertyItem constraint_type_items[] ={
@@ -80,6 +81,19 @@ EnumPropertyItem space_object_items[] = {
 	{1, "LOCAL", 0, "Local (Without Parent) Space", ""},
 	{0, NULL, 0, NULL, NULL}};
 
+EnumPropertyItem constraint_ik_type_items[] ={
+	{CONSTRAINT_IK_COPYPOSE, "COPY_POSE", 0, "Copy Pose", ""},
+	{CONSTRAINT_IK_DISTANCE, "DISTANCE", 0, "Distance", ""},
+	{0, NULL, 0, NULL, NULL},
+};
+
+static EnumPropertyItem constraint_distance_items[] = {
+	{LIMITDIST_INSIDE, "LIMITDIST_INSIDE", 0, "Inside", ""},
+	{LIMITDIST_OUTSIDE, "LIMITDIST_OUTSIDE", 0, "Outside", ""},
+	{LIMITDIST_ONSURFACE, "LIMITDIST_ONSURFACE", 0, "On Surface", ""},
+	{0, NULL, 0, NULL, NULL}
+};
+
 #ifdef RNA_RUNTIME
 
 #include "BKE_action.h"
@@ -160,24 +174,12 @@ static char *rna_Constraint_path(PointerRNA *ptr)
 
 static void rna_Constraint_update(bContext *C, PointerRNA *ptr)
 {
-	Object *ob= ptr->id.data;
-
-	if(ob->pose) update_pose_constraint_flags(ob->pose);
-
-	object_test_constraints(ob);
-
-	if(ob->type==OB_ARMATURE) DAG_id_flush_update(&ob->id, OB_RECALC_DATA|OB_RECALC_OB);
-	else DAG_id_flush_update(&ob->id, OB_RECALC_OB);
+	ED_object_constraint_update(ptr->id.data);
 }
 
 static void rna_Constraint_dependency_update(bContext *C, PointerRNA *ptr)
 {
-	Object *ob= ptr->id.data;
-
-	rna_Constraint_update(C, ptr);
-
-	if(ob->pose) ob->pose->flag |= POSE_RECALC;	// checks & sorts pose channels
-    DAG_scene_sort(CTX_data_scene(C));
+	ED_object_constraint_dependency_update(CTX_data_scene(C), ptr->id.data);
 }
 
 static void rna_Constraint_influence_update(bContext *C, PointerRNA *ptr)
@@ -190,6 +192,24 @@ static void rna_Constraint_influence_update(bContext *C, PointerRNA *ptr)
 	rna_Constraint_update(C, ptr);
 }
 
+static void rna_Constraint_ik_type_set(struct PointerRNA *ptr, int value)
+{
+	bConstraint *con = ptr->data;
+	bKinematicConstraint *ikdata = con->data;
+
+	if (ikdata->type != value) {
+		// the type of IK constraint has changed, set suitable default values
+		// in case constraints reuse same fields incompatible
+		switch (value) {
+		case CONSTRAINT_IK_COPYPOSE:
+			break;
+		case CONSTRAINT_IK_DISTANCE:
+			break;
+		}
+		ikdata->type = value;
+	}
+}
+
 static EnumPropertyItem *rna_Constraint_owner_space_itemf(bContext *C, PointerRNA *ptr, int *free)
 {
 	Object *ob= (Object*)ptr->id.data;
@@ -456,21 +476,40 @@ static void rna_def_constraint_kinematic(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "tail", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", CONSTRAINT_IK_TIP);
 	RNA_def_property_ui_text(prop, "Use Tail", "Include bone's tail as last element in chain.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
 
 	prop= RNA_def_property(srna, "rotation", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", CONSTRAINT_IK_ROT);
 	RNA_def_property_ui_text(prop, "Rotation", "Chain follows rotation of target.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
 
 	prop= RNA_def_property(srna, "targetless", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", CONSTRAINT_IK_AUTO);
 	RNA_def_property_ui_text(prop, "Targetless", "Use targetless IK.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
 
 	prop= RNA_def_property(srna, "stretch", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", CONSTRAINT_IK_STRETCH);
 	RNA_def_property_ui_text(prop, "Stretch", "Enable IK Stretching.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
+
+	prop= RNA_def_property(srna, "ik_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "type");
+	RNA_def_property_enum_funcs(prop, NULL, "rna_Constraint_ik_type_set", NULL);
+	RNA_def_property_enum_items(prop, constraint_ik_type_items);
+	RNA_def_property_ui_text(prop, "IK Type", "");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
+
+	prop= RNA_def_property(srna, "limit_mode", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "mode");
+	RNA_def_property_enum_items(prop, constraint_distance_items);
+	RNA_def_property_ui_text(prop, "Limit Mode", "Distances in relation to sphere of influence to allow.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
+
+	prop= RNA_def_property(srna, "distance", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "dist");
+	RNA_def_property_range(prop, 0.0, 100.f);
+	RNA_def_property_ui_text(prop, "Distance", "Radius of limiting sphere.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 }
 
@@ -1475,12 +1514,6 @@ static void rna_def_constraint_distance_limit(BlenderRNA *brna)
 	StructRNA *srna;
 	PropertyRNA *prop;
 
-	static EnumPropertyItem distance_items[] = {
-		{LIMITDIST_INSIDE, "LIMITDIST_INSIDE", 0, "Inside", ""},
-		{LIMITDIST_OUTSIDE, "LIMITDIST_OUTSIDE", 0, "Outside", ""},
-		{LIMITDIST_ONSURFACE, "LIMITDIST_ONSURFACE", 0, "On Surface", ""},
-		{0, NULL, 0, NULL, NULL}};
-
 	srna= RNA_def_struct(brna, "LimitDistanceConstraint", "Constraint");
 	RNA_def_struct_ui_text(srna, "Limit Distance Constraint", "Limits the distance from target object.");
 	RNA_def_struct_sdna_from(srna, "bDistLimitConstraint", "data");
@@ -1504,7 +1537,7 @@ static void rna_def_constraint_distance_limit(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "limit_mode", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "mode");
-	RNA_def_property_enum_items(prop, distance_items);
+	RNA_def_property_enum_items(prop, constraint_distance_items);
 	RNA_def_property_ui_text(prop, "Limit Mode", "Distances in relation to sphere of influence to allow.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 }
@@ -1622,7 +1655,18 @@ void RNA_def_constraint(BlenderRNA *brna)
 	RNA_def_property_range(prop, 0.0f, 1.0f);
 	RNA_def_property_ui_text(prop, "Influence", "Amount of influence constraint will have on the final solution.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_influence_update");
-	
+
+	/* readonly values */
+	prop= RNA_def_property(srna, "lin_error", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "lin_error");
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_ui_text(prop, "Lin error", "Amount of residual error in Blender space unit for constraints that work on position.");
+
+	prop= RNA_def_property(srna, "rot_error", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "rot_error");
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_ui_text(prop, "Rot error", "Amount of residual error in radiant for constraints that work on orientation.");
+
 	/* pointers */
 	rna_def_constrainttarget(brna);
 
diff --git a/source/blender/makesrna/intern/rna_pose.c b/source/blender/makesrna/intern/rna_pose.c
index 7cb7513f474..e76cd56af4e 100644
--- a/source/blender/makesrna/intern/rna_pose.c
+++ b/source/blender/makesrna/intern/rna_pose.c
@@ -23,6 +23,7 @@
  */
 
 #include <stdlib.h>
+#include <string.h>
 
 #include "RNA_define.h"
 #include "RNA_types.h"
@@ -39,8 +40,8 @@
 
 #ifdef RNA_RUNTIME
 
-#include <string.h>
-
+#include "BIK_api.h"
+#include "BKE_action.h"
 #include "BLI_arithb.h"
 
 #include "DNA_userdef_types.h"
@@ -49,8 +50,11 @@
 #include "BKE_depsgraph.h"
 #include "BKE_idprop.h"
 
+#include "ED_object.h"
 #include "ED_armature.h"
 
+#include "MEM_guardedalloc.h"
+
 static void rna_Pose_update(bContext *C, PointerRNA *ptr)
 {
 	// XXX when to use this? ob->pose->flag |= (POSE_LOCKED|POSE_DO_UNLOCK);
@@ -58,6 +62,15 @@ static void rna_Pose_update(bContext *C, PointerRNA *ptr)
 	DAG_id_flush_update(ptr->id.data, OB_RECALC_DATA);
 }
 
+static void rna_Pose_IK_update(bContext *C, PointerRNA *ptr)
+{
+	// XXX when to use this? ob->pose->flag |= (POSE_LOCKED|POSE_DO_UNLOCK);
+	Object *ob= ptr->id.data;
+
+	DAG_id_flush_update(&ob->id, OB_RECALC_DATA);
+	BIK_clear_data(ob->pose);
+}
+
 static char *rna_PoseChannel_path(PointerRNA *ptr)
 {
 	return BLI_sprintfN("pose.pose_channels[\"%s\"]", ((bPoseChannel*)ptr->data)->name);
@@ -110,6 +123,38 @@ static IDProperty *rna_PoseChannel_idproperties(PointerRNA *ptr, int create)
 	return pchan->prop;
 }
 
+static void rna_Pose_ik_solver_set(struct PointerRNA *ptr, int value)
+{
+	bPose *pose= (bPose*)ptr->data;
+
+	if (pose->iksolver != value) {
+		// the solver has changed, must clean any temporary structures
+		BIK_clear_data(pose);
+		if (pose->ikparam) {
+			MEM_freeN(pose->ikparam);
+			pose->ikparam = NULL;
+		}
+		pose->iksolver = value;
+		init_pose_ikparam(pose);
+	}
+}
+
+static void rna_Pose_ik_solver_update(bContext *C, PointerRNA *ptr)
+{
+	Object *ob= ptr->id.data;
+	bPose *pose = ptr->data;
+	Scene *scene = CTX_data_scene(C);
+
+	pose->flag |= POSE_RECALC;	// checks & sorts pose channels
+	DAG_scene_sort(scene);
+	
+	update_pose_constraint_flags(pose);
+	
+	object_test_constraints(ob);
+
+	DAG_id_flush_update(&ob->id, OB_RECALC_DATA|OB_RECALC_OB);
+}
+
 /* rotation - euler angles */
 static void rna_PoseChannel_euler_rotation_get(PointerRNA *ptr, float *value)
 {
@@ -236,6 +281,70 @@ static int rna_PoseChannel_has_ik_get(PointerRNA *ptr)
 	return ED_pose_channel_in_IK_chain(ob, pchan);
 }
 
+StructRNA *rna_IKParam_refine(PointerRNA *ptr)
+{
+	bIKParam *param = (bIKParam *)ptr->data;
+
+	switch (param->iksolver) {
+	case IKSOLVER_ITASC:
+		return &RNA_Itasc;
+	default:
+		return &RNA_IKParam;
+	}
+}
+
+PointerRNA rna_Pose_ikparam_get(struct PointerRNA *ptr)
+{
+	bPose *pose= (bPose*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_IKParam, pose->ikparam);
+}
+
+static StructRNA *rna_Pose_ikparam_typef(PointerRNA *ptr)
+{
+	bPose *pose= (bPose*)ptr->data;
+
+	switch (pose->iksolver) {
+	case IKSOLVER_ITASC:
+		return &RNA_Itasc;
+	default:
+		return &RNA_IKParam;
+	}
+}
+
+static void rna_Itasc_update(bContext *C, PointerRNA *ptr)
+{
+	Object *ob = ptr->id.data;
+	bItasc *itasc = ptr->data;
+
+	/* verify values */
+	if (itasc->precision < 0.0001f)
+		itasc->precision = 0.0001f;
+	if (itasc->minstep < 0.001f)
+		itasc->minstep = 0.001f;
+	if (itasc->maxstep < itasc->minstep)
+		itasc->maxstep = itasc->minstep;
+	if (itasc->feedback < 0.01f)
+		itasc->feedback = 0.01f;
+	if (itasc->feedback > 100.f)
+		itasc->feedback = 100.f;
+	if (itasc->maxvel < 0.01f)
+		itasc->maxvel = 0.01f;
+	if (itasc->maxvel > 100.f)
+		itasc->maxvel = 100.f;
+	BIK_update_param(ob->pose);
+
+	DAG_id_flush_update(&ob->id, OB_RECALC_DATA);
+}
+
+static void rna_Itasc_update_rebuild(bContext *C, PointerRNA *ptr)
+{
+	Object *ob= ptr->id.data;
+	bPose *pose = ob->pose;
+
+	pose->flag |= POSE_RECALC;	// checks & sorts pose channels
+	rna_Itasc_update(C, ptr);
+}
+
 static PointerRNA rna_PoseChannel_bone_group_get(PointerRNA *ptr)
 {
 	Object *ob= (Object*)ptr->id.data;
@@ -438,6 +547,16 @@ static void rna_def_bone_group(BlenderRNA *brna)
 	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 }
 
+static EnumPropertyItem prop_iksolver_items[] = {
+	{IKSOLVER_LEGACY, "LEGACY", 0, "Legacy", "Original IK solver."},
+	{IKSOLVER_ITASC, "ITASC", 0, "iTaSC", "Multi constraint, stateful IK solver."},
+	{0, NULL, 0, NULL, NULL}};
+
+static EnumPropertyItem prop_solver_items[] = {
+	{ITASC_SOLVER_SDLS, "SDLS", 0, "SDLS", "Selective Damped Least Square"},
+	{ITASC_SOLVER_DLS, "DLS", 0, "DLS", "Damped Least Square with Numerical Filtering"},
+	{0, NULL, 0, NULL, NULL}};
+
 static void rna_def_pose_channel(BlenderRNA *brna)
 {
 	static EnumPropertyItem prop_rotmode_items[] = {
@@ -470,7 +589,7 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	RNA_def_property_string_funcs(prop, NULL, NULL, "rna_PoseChannel_name_set");
 	RNA_def_property_ui_text(prop, "Name", "");
 	RNA_def_struct_name_property(srna, prop);
-	
+
 	prop= RNA_def_property(srna, "selected", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "selectflag", BONE_SELECTED);
 	RNA_def_property_ui_text(prop, "Selected", "");
@@ -480,13 +599,13 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	RNA_def_property_int_sdna(prop, NULL, "pathsf");
 	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bone Paths Calculation Start Frame", "Starting frame of range of frames to use for Bone Path calculations.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE|ND_TRANSFORM, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 
 	prop= RNA_def_property(srna, "path_end_frame", PROP_INT, PROP_TIME);
 	RNA_def_property_int_sdna(prop, NULL, "pathef");
 	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bone Paths Calculation End Frame", "End frame of range of frames to use for Bone Path calculations.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE|ND_TRANSFORM, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 	
 	/* Relationships to other bones */
 	prop= RNA_def_property(srna, "bone", PROP_POINTER, PROP_NONE);
@@ -581,96 +700,118 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	RNA_def_property_boolean_funcs(prop,  "rna_PoseChannel_has_ik_get", NULL);
 	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Has IK", "Is part of an IK chain.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_dof_x", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "ikflag", BONE_IK_NO_XDOF);
 	RNA_def_property_ui_text(prop, "IK X DoF", "Allow movement around the X axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_dof_y", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "ikflag", BONE_IK_NO_YDOF);
 	RNA_def_property_ui_text(prop, "IK Y DoF", "Allow movement around the Y axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE|ND_TRANSFORM, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_dof_z", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "ikflag", BONE_IK_NO_ZDOF);
 	RNA_def_property_ui_text(prop, "IK Z DoF", "Allow movement around the Z axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_limit_x", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_XLIMIT);
 	RNA_def_property_ui_text(prop, "IK X Limit", "Limit movement around the X axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_limit_y", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_YLIMIT);
 	RNA_def_property_ui_text(prop, "IK Y Limit", "Limit movement around the Y axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_limit_z", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_ZLIMIT);
 	RNA_def_property_ui_text(prop, "IK Z Limit", "Limit movement around the Z axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
+	
+	prop= RNA_def_property(srna, "ik_rot_control", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_ROTCTL);
+	RNA_def_property_ui_text(prop, "IK rot control", "Apply channel rotation as IK constraint");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
+	
+	prop= RNA_def_property(srna, "ik_lin_control", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_LINCTL);
+	RNA_def_property_ui_text(prop, "IK rot control", "Apply channel size as IK constraint if stretching is enabled");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 	
 	prop= RNA_def_property(srna, "ik_min_x", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmin[0]");
 	RNA_def_property_range(prop, -180.0f, 0.0f);
 	RNA_def_property_ui_text(prop, "IK X Minimum", "Minimum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_max_x", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmax[0]");
 	RNA_def_property_range(prop, 0.0f, 180.0f);
 	RNA_def_property_ui_text(prop, "IK X Maximum", "Maximum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_min_y", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmin[1]");
 	RNA_def_property_range(prop, -180.0f, 0.0f);
 	RNA_def_property_ui_text(prop, "IK Y Minimum", "Minimum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_max_y", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmax[1]");
 	RNA_def_property_range(prop, 0.0f, 180.0f);
 	RNA_def_property_ui_text(prop, "IK Y Maximum", "Maximum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_min_z", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmin[2]");
 	RNA_def_property_range(prop, -180.0f, 0.0f);
 	RNA_def_property_ui_text(prop, "IK Z Minimum", "Minimum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_max_z", PROP_FLOAT, PROP_ANGLE);
 	RNA_def_property_float_sdna(prop, NULL, "limitmax[2]");
 	RNA_def_property_range(prop, 0.0f, 180.0f);
 	RNA_def_property_ui_text(prop, "IK Z Maximum", "Maximum angles for IK Limit");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_stiffness_x", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "stiffness[0]");
 	RNA_def_property_range(prop, 0.0f, 0.99f);
 	RNA_def_property_ui_text(prop, "IK X Stiffness", "IK stiffness around the X axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_stiffness_y", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "stiffness[1]");
 	RNA_def_property_range(prop, 0.0f, 0.99f);
 	RNA_def_property_ui_text(prop, "IK Y Stiffness", "IK stiffness around the Y axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_stiffness_z", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "stiffness[2]");
 	RNA_def_property_range(prop, 0.0f, 0.99f);
 	RNA_def_property_ui_text(prop, "IK Z Stiffness", "IK stiffness around the Z axis.");
-	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
 
 	prop= RNA_def_property(srna, "ik_stretch", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "ikstretch");
 	RNA_def_property_range(prop, 0.0f,1.0f);
 	RNA_def_property_ui_text(prop, "IK Stretch", "Allow scaling of the bone for IK.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
+	
+	prop= RNA_def_property(srna, "ik_rot_weight", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "ikrotweight");
+	RNA_def_property_range(prop, 0.0f,1.0f);
+	RNA_def_property_ui_text(prop, "IK Rot Weight", "Weight of rotation constraint for IK.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
+	
+	prop= RNA_def_property(srna, "ik_lin_weight", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "iklinweight");
+	RNA_def_property_range(prop, 0.0f,1.0f);
+	RNA_def_property_ui_text(prop, "IK Lin Weight", "Weight of scale constraint for IK.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 	
 	/* custom bone shapes */
@@ -727,6 +868,113 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 }
 
+static void rna_def_pose_itasc(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= RNA_def_struct(brna, "Itasc", "IKParam");
+	RNA_def_struct_sdna(srna, "bItasc");
+	RNA_def_struct_ui_text(srna, "bItasc", "Parameters for the iTaSC IK solver.");
+
+	prop= RNA_def_property(srna, "precision", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "precision");
+	RNA_def_property_range(prop, 0.0f,0.1f);
+	RNA_def_property_ui_text(prop, "Precision", "Precision of convergence in case of reiteration.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "num_iter", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "numiter");
+	RNA_def_property_range(prop, 1.f,1000.f);
+	RNA_def_property_ui_text(prop, "Iterations", "Maximum number of iterations for convergence in case of reiteration.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "num_step", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "numstep");
+	RNA_def_property_range(prop, 1.f, 50.f);
+	RNA_def_property_ui_text(prop, "Num steps", "Divides the frame interval into this many steps.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "simulation", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", ITASC_SIMULATION);
+	RNA_def_property_ui_text(prop, "Simulation", "Simulation mode: solver is statefull, runs in real-time context and ignores actions and non-IK constraints (i.e. solver is in full charge of the IK chain).");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update_rebuild");
+
+	prop= RNA_def_property(srna, "initial_reiteration", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", ITASC_INITIAL_REITERATION);
+	RNA_def_property_ui_text(prop, "Initial Reiteration", "Allow reiteration for initial frame.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "reiteration", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", ITASC_REITERATION);
+	RNA_def_property_ui_text(prop, "Reiteration", "Allow reiteration for all frames.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "auto_step", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", ITASC_AUTO_STEP);
+	RNA_def_property_ui_text(prop, "Auto step", "Automatically determine the optimal number of steps for best performance/accurary trade off.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "min_step", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "minstep");
+	RNA_def_property_range(prop, 0.0f,0.1f);
+	RNA_def_property_ui_text(prop, "Min step", "Lower bound for timestep in second in case of automatic substeps.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "max_step", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "maxstep");
+	RNA_def_property_range(prop, 0.0f,1.0f);
+	RNA_def_property_ui_text(prop, "Max step", "Higher bound for timestep in second in case of automatic substeps.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "feedback", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "feedback");
+	RNA_def_property_range(prop, 0.0f,100.0f);
+	RNA_def_property_ui_text(prop, "Feedback", "Feedback coefficient for error correction. Average response time=1/feedback. Default=20.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "max_velocity", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "maxvel");
+	RNA_def_property_range(prop, 0.0f,100.0f);
+	RNA_def_property_ui_text(prop, "Max Velocity", "Maximum joint velocity in rad/s. Default=50.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "solver", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "solver");
+	RNA_def_property_enum_items(prop, prop_solver_items);
+	RNA_def_property_ui_text(prop, "Solver", "Solving method selection: Automatic damping or manual damping");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update_rebuild");
+
+	prop= RNA_def_property(srna, "dampmax", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "dampmax");
+	RNA_def_property_range(prop, 0.0f,1.0f);
+	RNA_def_property_ui_text(prop, "Damp", "Maximum damping coefficient when singular value is nearly 0. Higher values=more stability, less reactivity. Default=0.5");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+
+	prop= RNA_def_property(srna, "dampeps", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "dampeps");
+	RNA_def_property_range(prop, 0.0f,1.0f);
+	RNA_def_property_ui_text(prop, "Epsilon", "Singular value under which damping is progressively applied. Higher values=more stability, less reactivity. Default=0.1");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
+}
+
+static void rna_def_pose_ikparam(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= RNA_def_struct(brna, "IKParam", NULL);
+	RNA_def_struct_sdna(srna, "bIKParam");
+	RNA_def_struct_ui_text(srna, "IKParam", "Base type for IK solver parameters.");
+	RNA_def_struct_refine_func(srna, "rna_IKParam_refine");
+
+	prop= RNA_def_property(srna, "ik_solver", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "iksolver");
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_enum_items(prop, prop_iksolver_items);
+	RNA_def_property_ui_text(prop, "IK Solver", "IK solver for which these parameters are defined, 0 for Legacy, 1 for iTaSC.");
+}
+
 static void rna_def_pose(BlenderRNA *brna)
 {
 	StructRNA *srna;
@@ -762,6 +1010,19 @@ static void rna_def_pose(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Active Bone Group Index", "Active index in bone groups array.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
 
+	prop= RNA_def_property(srna, "ik_solver", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "iksolver");
+	RNA_def_property_enum_funcs(prop, NULL, "rna_Pose_ik_solver_set", NULL);
+	RNA_def_property_enum_items(prop, prop_iksolver_items);
+	RNA_def_property_ui_text(prop, "IK Solver", "Selection of IK solver for IK chain, current choice is 0 for Legacy, 1 for iTaSC.");
+	RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_ik_solver_update");
+
+	prop= RNA_def_property(srna, "ik_param", PROP_POINTER, PROP_NONE);
+	RNA_def_property_struct_type(prop, "IKParam");
+	RNA_def_property_pointer_funcs(prop, "rna_Pose_ikparam_get", NULL, "rna_Pose_ikparam_typef");
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_ui_text(prop, "IK Param", "Parameters for IK solver.");
+
 	/* RNA_api_pose(srna); */
 }
 
@@ -769,7 +1030,8 @@ void RNA_def_pose(BlenderRNA *brna)
 {
 	rna_def_pose(brna);
 	rna_def_pose_channel(brna);
-	
+	rna_def_pose_ikparam(brna);
+	rna_def_pose_itasc(brna);
 	rna_def_bone_group(brna);
 }
 
diff --git a/source/blender/makesrna/intern/rna_sensor.c b/source/blender/makesrna/intern/rna_sensor.c
index a5d76fdb039..1003af6d4d1 100644
--- a/source/blender/makesrna/intern/rna_sensor.c
+++ b/source/blender/makesrna/intern/rna_sensor.c
@@ -48,6 +48,8 @@ static StructRNA* rna_Sensor_refine(struct PointerRNA *ptr)
 			return &RNA_KeyboardSensor;
 		case SENS_PROPERTY:
 			return &RNA_PropertySensor;
+		case SENS_ARMATURE:
+			return &RNA_ArmatureSensor;
 		case SENS_MOUSE:
 			return &RNA_MouseSensor;
 		case SENS_COLLISION:
@@ -92,6 +94,7 @@ static void rna_def_sensor(BlenderRNA *brna)
 		{SENS_JOYSTICK, "JOYSTICK", 0, "joystick", ""},
 		{SENS_ACTUATOR, "ACTUATOR", 0, "Actuator", ""},
 		{SENS_DELAY, "DELAY", 0, "Delay", ""},
+		{SENS_ARMATURE, "ARMATURE", 0, "Armature", ""},
 		{0, NULL, 0, NULL, NULL}};
 
 	srna= RNA_def_struct(brna, "Sensor", NULL);
@@ -278,6 +281,40 @@ static void rna_def_property_sensor(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Maximum Value", "Specify maximum value in Interval type.");
 }
 
+static void rna_def_armature_sensor(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	static EnumPropertyItem prop_type_items[] ={
+		{SENS_ARM_STATE_CHANGED, "STATECHG", 0, "State Changed", ""},
+		{SENS_ARM_LIN_ERROR_BELOW, "LINERRORBELOW", 0, "Lin error below", ""},
+		{SENS_ARM_LIN_ERROR_ABOVE, "LINERRORABOVE", 0, "Lin error above", ""},
+		{SENS_ARM_ROT_ERROR_BELOW, "ROTERRORBELOW", 0, "Rot error below", ""},
+		{SENS_ARM_ROT_ERROR_ABOVE, "ROTERRORBELOW", 0, "Rot error above", ""},
+		{0, NULL, 0, NULL, NULL}};
+
+	srna= RNA_def_struct(brna, "ArmatureSensor", "Sensor");
+	RNA_def_struct_ui_text(srna, "Armature Sensor", "Sensor to detect values and changes in values of IK solver.");
+	RNA_def_struct_sdna_from(srna, "bArmatureSensor", "data");
+
+	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "type");
+	RNA_def_property_enum_items(prop, prop_type_items);
+	RNA_def_property_ui_text(prop, "Test Type", "Type of value and test.");
+
+	prop= RNA_def_property(srna, "channel_name", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "posechannel");
+	RNA_def_property_ui_text(prop, "Bone name", "Identify the bone to check value from");
+
+	prop= RNA_def_property(srna, "constraint_name", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "constraint");
+	RNA_def_property_ui_text(prop, "Constraint name", "Identify the bone constraint to check value from.");
+
+	prop= RNA_def_property(srna, "value", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "value");
+	RNA_def_property_ui_text(prop, "Compare Value", "Specify value to be used in comparison.");
+}
+
 static void rna_def_actuator_sensor(BlenderRNA *brna)
 {
 	StructRNA *srna;
@@ -531,6 +568,7 @@ void RNA_def_sensor(BlenderRNA *brna)
 	rna_def_touch_sensor(brna);
 	rna_def_keyboard_sensor(brna);
 	rna_def_property_sensor(brna);
+	rna_def_armature_sensor(brna);
 	rna_def_actuator_sensor(brna);
 	rna_def_delay_sensor(brna);
 	rna_def_collision_sensor(brna);