Pole Target for IK

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

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

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

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

8 files changed, 187 insertions, 87 deletions

diff --git a/source/blender/blenkernel/BKE_constraint.h b/source/blender/blenkernel/BKE_constraint.h
index 40fd8c5ed18..aa8e9cf18f8 100644
--- a/source/blender/blenkernel/BKE_constraint.h
+++ b/source/blender/blenkernel/BKE_constraint.h
@@ -126,14 +126,13 @@ void copy_constraint_channels(struct ListBase *dst, struct ListBase *src);
 void clone_constraint_channels(struct ListBase *dst, struct ListBase *src);
 void free_constraint_channels(struct ListBase *chanbase);
 
-
 /* Constraint Evaluation function prototypes */
 struct bConstraintOb *constraints_make_evalob(struct Object *ob, void *subdata, short datatype);
 void constraints_clear_evalob(struct bConstraintOb *cob);
 
 void constraint_mat_convertspace(struct Object *ob, struct bPoseChannel *pchan, float mat[][4], short from, short to);
 
-void get_constraint_target_matrix(struct bConstraint *con, short ownertype, void *ownerdata, float mat[][4], float ctime);
+void get_constraint_target_matrix(struct bConstraint *con, int n, short ownertype, void *ownerdata, float mat[][4], float ctime);
 void solve_constraints(struct ListBase *conlist, struct bConstraintOb *cob, float ctime);
 
 
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index 09a7b2a8dcc..38a6a05017c 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -1512,7 +1512,7 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 	IK_Segment *seg, *parent, **iktree, *iktarget;
 	IK_Solver *solver;
 	PoseTarget *target;
-	bKinematicConstraint *data;
+	bKinematicConstraint *data, *poleangledata=NULL;
 	Bone *bone;
 
 	if (tree->totchannel == 0)
@@ -1624,12 +1624,15 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 	Mat4Invert (goalinv, imat);
 	
 	for (target=tree->targets.first; target; target=target->next) {
+		float polepos[3];
+		int poleconstrain= 0;
+
 		data= (bKinematicConstraint*)target->con->data;
 		
 		/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
 		 * strictly speaking, it is a posechannel)
 		 */
-		get_constraint_target_matrix(target->con, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+		get_constraint_target_matrix(target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
 		
 		/* and set and transform goal */
 		Mat4MulMat4(goal, rootmat, goalinv);
@@ -1637,6 +1640,26 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 		VECCOPY(goalpos, goal[3]);
 		Mat3CpyMat4(goalrot, goal);
 		
+		/* same for pole vector target */
+		if(data->poletar) {
+			get_constraint_target_matrix(target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
+
+			if(data->flag & CONSTRAINT_IK_SETANGLE) {
+				/* don't solve IK when we are setting the pole angle */
+				break;
+			}
+			else {
+				Mat4MulMat4(goal, rootmat, goalinv);
+				VECCOPY(polepos, goal[3]);
+				poleconstrain= 1;
+
+				if(data->flag & CONSTRAINT_IK_GETANGLE) {
+					poleangledata= data;
+					data->flag &= ~CONSTRAINT_IK_GETANGLE;
+				}
+			}
+		}
+
 		/* do we need blending? */
 		if (target->con->enforce!=1.0) {
 			float q1[4], q2[4], q[4];
@@ -1664,14 +1687,24 @@ static void execute_posetree(Object *ob, PoseTree *tree)
 		
 		iktarget= iktree[target->tip];
 		
-		if(data->weight != 0.0)
+		if(data->weight != 0.0) {
+			if(poleconstrain)
+				IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
+					polepos, data->poleangle*M_PI/180, (poleangledata == data));
 			IK_SolverAddGoal(solver, iktarget, goalpos, data->weight);
-		if((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0) && (data->flag & CONSTRAINT_IK_AUTO)==0)
-			IK_SolverAddGoalOrientation(solver, iktarget, goalrot, data->orientweight);
+		}
+		if((data->flag & CONSTRAINT_IK_ROT) && (data->orientweight != 0.0))
+			if((data->flag & CONSTRAINT_IK_AUTO)==0)
+				IK_SolverAddGoalOrientation(solver, iktarget, goalrot,
+					data->orientweight);
 	}
 
 	/* solve */
 	IK_Solve(solver, 0.0f, tree->iterations);
+
+	if(poleangledata)
+		poleangledata->poleangle= IK_SolverGetPoleAngle(solver)*180/M_PI;
+
 	IK_FreeSolver(solver);
 
 	/* gather basis changes */
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 9dce9c3a611..a8305a7dec1 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -804,12 +804,12 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGET_GET_TARS(con, data, ct, list) \
+#define SINGLETARGET_GET_TARS(con, datatar, datasubtarget, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 		 \
-		ct->tar= data->tar; \
-		strcpy(ct->subtarget, data->subtarget); \
+		ct->tar= datatar; \
+		strcpy(ct->subtarget, datasubtarget); \
 		ct->space= con->tarspace; \
 		ct->flag= CONSTRAINT_TAR_TEMP; \
 		 \
@@ -827,11 +827,11 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGETNS_GET_TARS(con, data, ct, list) \
+#define SINGLETARGETNS_GET_TARS(con, datatar, ct, list) \
 	{ \
 		ct= MEM_callocN(sizeof(bConstraintTarget), "tempConstraintTarget"); \
 		 \
-		ct->tar= data->tar; \
+		ct->tar= datatar; \
 		ct->space= con->tarspace; \
 		ct->flag= CONSTRAINT_TAR_TEMP; \
 		 \
@@ -845,16 +845,16 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy) \
+#define SINGLETARGET_FLUSH_TARS(con, datatar, datasubtarget, ct, list, nocopy) \
 	{ \
 		if (ct) { \
 			if (nocopy == 0) { \
-				data->tar= ct->tar; \
-				strcpy(data->subtarget, ct->subtarget); \
+				datatar= ct->tar; \
+				strcpy(datasubtarget, ct->subtarget); \
 				con->tarspace= ct->space; \
 			} \
 			 \
-			BLI_freelistN(list); \
+			BLI_freelinkN(list, ct); \
 		} \
 	}
 	
@@ -863,15 +863,15 @@ static void default_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstrain
  * (Hopefully all compilers will be happy with the lines with just a space on them. Those are
  *  really just to help this code easier to read)
  */
-#define SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy) \
+#define SINGLETARGETNS_FLUSH_TARS(con, datatar, ct, list, nocopy) \
 	{ \
 		if (ct) { \
 			if (nocopy == 0) { \
-				data->tar= ct->tar; \
+				datatar= ct->tar; \
 				con->tarspace= ct->space; \
 			} \
 			 \
-			BLI_freelistN(list); \
+			BLI_freelinkN(list, ct); \
 		} \
 	}
  
@@ -894,7 +894,7 @@ static void childof_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -905,7 +905,7 @@ static void childof_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -992,7 +992,7 @@ static void trackto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1003,7 +1003,7 @@ static void trackto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1169,7 +1169,8 @@ static void kinematic_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
+		SINGLETARGET_GET_TARS(con, data->poletar, data->polesubtarget, ct, list)
 	}
 }
 
@@ -1180,7 +1181,9 @@ static void kinematic_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
+		ct= ct->next;
+		SINGLETARGET_FLUSH_TARS(con, data->poletar, data->polesubtarget, ct, list, nocopy)
 	}
 }
 
@@ -1245,7 +1248,7 @@ static void followpath_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -1256,7 +1259,7 @@ static void followpath_flush_tars (bConstraint *con, ListBase *list, short nocop
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -1283,7 +1286,7 @@ static void followpath_get_tarmat (bConstraint *con, bConstraintOb *cob, bConstr
 		
 		if (cu->path && cu->path->data) {
 			curvetime= bsystem_time(ct->tar, (float)ctime, 0.0) - data->offset;
-			
+
 			if (calc_ipo_spec(cu->ipo, CU_SPEED, &curvetime)==0) {
 				curvetime /= cu->pathlen;
 				CLAMP(curvetime, 0.0, 1.0);
@@ -1546,7 +1549,7 @@ static void loclike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1557,7 +1560,7 @@ static void loclike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1661,7 +1664,7 @@ static void rotlike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1672,7 +1675,7 @@ static void rotlike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1749,7 +1752,7 @@ static void sizelike_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1760,7 +1763,7 @@ static void sizelike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -1928,7 +1931,7 @@ static void actcon_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -1939,7 +1942,7 @@ static void actcon_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2068,7 +2071,7 @@ static void locktrack_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2079,7 +2082,7 @@ static void locktrack_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2419,7 +2422,7 @@ static void stretchto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2430,7 +2433,7 @@ static void stretchto_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2595,7 +2598,7 @@ static void minmax_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2606,7 +2609,7 @@ static void minmax_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -2725,7 +2728,7 @@ static void rbj_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -2736,7 +2739,7 @@ static void rbj_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -2764,7 +2767,7 @@ static void clampto_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints without subtargets */
-		SINGLETARGETNS_GET_TARS(con, data, ct, list)
+		SINGLETARGETNS_GET_TARS(con, data->tar, ct, list)
 	}
 }
 
@@ -2775,7 +2778,7 @@ static void clampto_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGETNS_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGETNS_FLUSH_TARS(con, data->tar, ct, list, nocopy)
 	}
 }
 
@@ -2937,7 +2940,7 @@ static void transform_get_tars (bConstraint *con, ListBase *list)
 		bConstraintTarget *ct;
 		
 		/* standard target-getting macro for single-target constraints */
-		SINGLETARGET_GET_TARS(con, data, ct, list)
+		SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
 	}
 }
 
@@ -2948,7 +2951,7 @@ static void transform_flush_tars (bConstraint *con, ListBase *list, short nocopy
 		bConstraintTarget *ct= list->first;
 		
 		/* the following macro is used for all standard single-target constraints */
-		SINGLETARGET_FLUSH_TARS(con, data, ct, list, nocopy)
+		SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
 	}
 }
 
@@ -3225,7 +3228,7 @@ void copy_constraints (ListBase *dst, ListBase *src)
  * None of the actual calculations of the matricies should be done here! Also, this function is 
  * not to be used by any new constraints, particularly any that have multiple targets.
  */
-void get_constraint_target_matrix (bConstraint *con, short ownertype, void *ownerdata, float mat[][4], float ctime)
+void get_constraint_target_matrix (bConstraint *con, int n, short ownertype, void *ownerdata, float mat[][4], float ctime)
 {
 	bConstraintTypeInfo *cti= constraint_get_typeinfo(con);
 	ListBase targets = {NULL, NULL};
@@ -3272,6 +3275,9 @@ void get_constraint_target_matrix (bConstraint *con, short ownertype, void *owne
 		
 		/* only calculate the target matrix on the first target */
 		ct= (bConstraintTarget *)targets.first;
+		while(ct && n-- > 0)
+			ct= ct->next;
+
 		if (ct) {
 			if (cti->get_target_matrix)
 				cti->get_target_matrix(con, cob, ct, ctime);
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index e1d538a54da..2293fbef0b5 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -1664,6 +1664,7 @@ static void lib_link_constraints(FileData *fd, ID *id, ListBase *conlist)
 				bKinematicConstraint *data;
 				data = ((bKinematicConstraint*)con->data);
 				data->tar = newlibadr(fd, id->lib, data->tar);
+				data->poletar = newlibadr(fd, id->lib, data->poletar);
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
@@ -7289,6 +7290,7 @@ static void expand_constraints(FileData *fd, Main *mainvar, ListBase *lb)
 			{
 				bKinematicConstraint *data = (bKinematicConstraint*)curcon->data;
 				expand_doit(fd, mainvar, data->tar);
+				expand_doit(fd, mainvar, data->poletar);
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index e06063a11a1..431ef56e1c4 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -125,10 +125,13 @@ typedef struct bKinematicConstraint {
 	int			rootbone;	/* index to rootbone, if zero go all the way to mother bone */
 	char		subtarget[32];	/* String to specify sub-object target */
 
+	Object		*poletar;			/* Pole vector target */
+	char		polesubtarget[32];	/* Pole vector sub-object target */
+	float		poleangle;			/* Pole vector rest angle */
+
 	float		weight;			/* Weight of goal in IK tree */
 	float		orientweight;	/* Amount of rotation a target applies on chain */
 	float		grabtarget[3];	/* for target-less IK */
-	int			pad;
 } bKinematicConstraint;
 
 /* Track To Constraint */
@@ -439,6 +442,8 @@ typedef enum B_CONSTRAINTCHANNEL_FLAG {
 #define CONSTRAINT_IK_TEMP		8
 #define CONSTRAINT_IK_STRETCH	16
 #define CONSTRAINT_IK_POS		32
+#define CONSTRAINT_IK_SETANGLE	64
+#define CONSTRAINT_IK_GETANGLE	128
 
 /* MinMax (floor) flags */
 #define MINMAX_STICKY	0x01
diff --git a/source/blender/src/buttons_object.c b/source/blender/src/buttons_object.c
index 94a40a7ebb6..35db9294af1 100644
--- a/source/blender/src/buttons_object.c
+++ b/source/blender/src/buttons_object.c
@@ -410,6 +410,24 @@ void autocomplete_vgroup(char *str, void *arg_v)
 	}
 }
 
+/* pole angle callback */
+void con_kinematic_set_pole_angle(void *ob_v, void *con_v)
+{
+	bConstraint *con= con_v;
+	bKinematicConstraint *data = con->data;
+
+	if(data->poletar) {
+		if(data->flag & CONSTRAINT_IK_SETANGLE) {
+			data->flag |= CONSTRAINT_IK_GETANGLE;
+			data->flag &= ~CONSTRAINT_IK_SETANGLE;
+		}
+		else {
+			data->flag &= ~CONSTRAINT_IK_GETANGLE;
+			data->flag |= CONSTRAINT_IK_SETANGLE;
+		}
+	}
+}
+
 /* some commonly used macros in the constraints drawing code */
 #define is_armature_target(target) (target && target->type==OB_ARMATURE)
 #define is_armature_owner(ob) ((ob->type == OB_ARMATURE) && (ob->flag & OB_POSEMODE))
@@ -878,47 +896,76 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
 			{
 				bKinematicConstraint *data = con->data;
 				
-				height = 111;
+				height = 146;
+				if(data->poletar) 
+					height += 30;
+
 				uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, ""); 
 				
-				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Target:", *xco+65, *yco-24, 50, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
+				/* IK Target */
+				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Target:", *xco, *yco-24, 50, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
 				
 				/* Draw target parameters */
-				uiDefButBitS(block, TOG, CONSTRAINT_IK_ROT, B_CONSTRAINT_TEST, "Rot", *xco, *yco-24,60,19, &data->flag, 0, 0, 0, 0, "Chain follows rotation of target");
-				
 				uiBlockBeginAlign(block);
-					uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco+120, *yco-24, 135, 19, &data->tar, "Target Object"); 
-					
-					if (is_armature_target(data->tar)) {
-						but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco+120, *yco-42,135,19, &data->subtarget, 0, 24, 0, 0, "Subtarget Bone");
-						uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->tar);
-					}
-					else if (is_geom_target(data->tar)) {
-						but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco+120, *yco-42,135,18, &data->subtarget, 0, 24, 0, 0, "Name of Vertex Group defining 'target' points");
-						uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->tar);
-					}
-					else {
-						strcpy(data->subtarget, "");
-					}
+				uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco, *yco-44, 137, 19, &data->tar, "Target Object"); 
+
+				if (is_armature_target(data->tar)) {
+					but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco, *yco-62,137,19, &data->subtarget, 0, 24, 0, 0, "Subtarget Bone");
+					uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->tar);
+				}
+				else if (is_geom_target(data->tar)) {
+					but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco, *yco-62,137,18, &data->subtarget, 0, 24, 0, 0, "Name of Vertex Group defining 'target' points");
+					uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->tar);
+				}
+				else {
+					strcpy (data->subtarget, "");
+				}
+
 				uiBlockEndAlign(block);
-				
+
+				/* Settings */
 				uiBlockBeginAlign(block);
-					uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tail", *xco, *yco-64, 137, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tail as last element in Chain");
-					uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco, *yco-84,137,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
-				uiBlockEndAlign(block);
-				
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_TIP, B_CONSTRAINT_TEST, "Use Tail", *xco, *yco-92, 137, 19, &data->flag, 0, 0, 0, 0, "Include Bone's tail als last element in Chain");
+				uiDefButI(block, NUM, B_CONSTRAINT_TEST, "ChainLen:", *xco, *yco-112,137,19, &data->rootbone, 0, 255, 0, 0, "If not zero, the amount of bones in this chain");
+
 				uiBlockBeginAlign(block);
-					uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco+147, *yco-64, 137, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
-					uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "RotW ", *xco+147, *yco-84, 137, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
-				uiBlockEndAlign(block);
-				
+				uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "PosW ", *xco+147, *yco-92, 137, 19, &data->weight, 0.01, 1.0, 2, 2, "For Tree-IK: weight of position control for this target");
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_ROT, B_CONSTRAINT_TEST, "Rot", *xco+147, *yco-112, 40,19, &data->flag, 0, 0, 0, 0, "Chain follows rotation of target");
+				uiDefButF(block, NUMSLI, B_CONSTRAINT_TEST, "W ", *xco+187, *yco-112, 97, 19, &data->orientweight, 0.01, 1.0, 2, 2, "For Tree-IK: Weight of orientation control for this target");
+
 				uiBlockBeginAlign(block);
-					uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco, *yco-109, 137, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations"); 
-				uiBlockEndAlign(block);
-				
+
+				uiDefButBitS(block, TOG, CONSTRAINT_IK_STRETCH, B_CONSTRAINT_TEST, "Stretch", *xco, *yco-137,137,19, &data->flag, 0, 0, 0, 0, "Enable IK stretching");
 				uiBlockBeginAlign(block);
-					uiDefButBitS(block, TOG, CONSTRAINT_IK_STRETCH, B_CONSTRAINT_TEST, "Stretch", *xco+147, *yco-109,137,19, &data->flag, 0, 0, 0, 0, "Enable IK stretching");
+				uiDefButS(block, NUM, B_CONSTRAINT_TEST, "Iterations:", *xco+147, *yco-137, 137, 19, &data->iterations, 1, 10000, 0, 0, "Maximum number of solving iterations"); 
 				uiBlockEndAlign(block);
+
+				/* Pole Vector */
+				uiDefBut(block, LABEL, B_CONSTRAINT_TEST, "Pole Target:", *xco+147, *yco-24, 100, 18, NULL, 0.0, 0.0, 0.0, 0.0, ""); 
+
+				uiBlockBeginAlign(block);
+				uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "OB:", *xco+147, *yco-44, 137, 19, &data->poletar, "Pole Target Object"); 
+				if (is_armature_target(data->poletar)) {
+					but=uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "BO:", *xco+147, *yco-62,137,19, &data->polesubtarget, 0, 24, 0, 0, "Pole Subtarget Bone");
+					uiButSetCompleteFunc(but, autocomplete_bone, (void *)data->poletar);
+				}
+				else if (is_geom_target(data->poletar)) {
+					but= uiDefBut(block, TEX, B_CONSTRAINT_CHANGETARGET, "VG:", *xco+147, *yco-62,137,18, &data->polesubtarget, 0, 24, 0, 0, "Name of Vertex Group defining pole 'target' points");
+					uiButSetCompleteFunc(but, autocomplete_vgroup, (void *)data->poletar);
+				}
+				else {
+					strcpy (data->polesubtarget, "");
+				}
+	
+				if(data->poletar) {
+					uiBlockBeginAlign(block);
+#if 0
+					but = uiDefBut(block, BUT, B_CONSTRAINT_TEST, (data->flag & CONSTRAINT_IK_SETANGLE)? "Set Pole Offset": "Clear Pole Offset", *xco, *yco-167, 137, 19, 0, 0.0, 1.0, 0.0, 0.0, "Set the pole rotation offset from the current pose");
+					uiButSetFunc(but, con_kinematic_set_pole_angle, ob, con);
+					if(!(data->flag & CONSTRAINT_IK_SETANGLE))
+#endif
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pole Offset ", *xco, *yco-167, 137, 19, &data->poleangle, -180.0, 180.0, 0, 0, "Pole rotation offset");
+				}
 			}
 			break;
 		case CONSTRAINT_TYPE_TRACKTO:
diff --git a/source/blender/src/editconstraint.c b/source/blender/src/editconstraint.c
index 0360c4add18..e0588b4c2a0 100644
--- a/source/blender/src/editconstraint.c
+++ b/source/blender/src/editconstraint.c
@@ -417,18 +417,26 @@ static void test_constraints (Object *owner, const char substring[])
 				case CONSTRAINT_TYPE_KINEMATIC:
 				{
 					bKinematicConstraint *data = curcon->data;
+
 					if (!exist_object(data->tar)) {
 						data->tar = NULL;
 						curcon->flag |= CONSTRAINT_DISABLE;
-						break;
 					}
-					
-					if ( (data->tar == owner) &&
+					else if ( (data->tar == owner) &&
 						 (!get_named_bone(get_armature(owner), 
 										  data->subtarget))) {
 						curcon->flag |= CONSTRAINT_DISABLE;
-						break;
 					}
+
+					if (data->poletar && !exist_object(data->poletar)) {
+						data->poletar = NULL;
+					}
+					else if ( (data->poletar == owner) &&
+						 (!get_named_bone(get_armature(owner), 
+										  data->polesubtarget))) {
+						curcon->flag |= CONSTRAINT_DISABLE;
+					}
+
 				}
 					break;
 				case CONSTRAINT_TYPE_TRACKTO:
@@ -816,7 +824,7 @@ void add_constraint(int only_IK)
 		set_constraint_nth_target(con, ob, pchansel->name, 0);
 	}
 	else if(obsel) {
-		set_constraint_nth_target(con, obsel, NULL, 0);
+		set_constraint_nth_target(con, obsel, "", 0);
 	}
 	else if (ELEM4(nr, 11, 13, 14, 15)==0) {	/* add new empty as target */
 		Base *base= BASACT, *newbase;
@@ -838,7 +846,7 @@ void add_constraint(int only_IK)
 		else
 			VECCOPY(obt->loc, ob->obmat[3]);
 		
-		set_constraint_nth_target(con, obt, NULL, 0);
+		set_constraint_nth_target(con, obt, "", 0);
 		
 		/* restore, add_object sets active */
 		BASACT= base;
diff --git a/source/blender/src/editobject.c b/source/blender/src/editobject.c
index 1c9cf15bc7e..997593b30b1 100644
--- a/source/blender/src/editobject.c
+++ b/source/blender/src/editobject.c
@@ -1416,7 +1416,7 @@ void make_parent(void)
 						
 						add_constraint_to_object(con, base->object);
 						
-						get_constraint_target_matrix(con, CONSTRAINT_OBTYPE_OBJECT, NULL, cmat, G.scene->r.cfra - base->object->sf);
+						get_constraint_target_matrix(con, 0, CONSTRAINT_OBTYPE_OBJECT, NULL, cmat, G.scene->r.cfra - base->object->sf);
 						VecSubf(vec, base->object->obmat[3], cmat[3]);
 						
 						base->object->loc[0] = vec[0];